diff --git "a/MP3D/habitatweb/train/PuKPg4mmafe.json" "b/MP3D/habitatweb/train/PuKPg4mmafe.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/PuKPg4mmafe.json" @@ -0,0 +1,55338 @@ +[ + { + "PuKPg4mmafe.glb_cabinet": [ + { + "position": [ + -16.0979, + 0.47906, + -0.93398 + ], + "radius": null, + "object_id": 30, + "object_name": "0_0_30", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "14c540221298447da11bf71477d7fbf1", + "observable_viewpoint_ids": [ + "14c540221298447da11bf71477d7fbf1", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "477dbfb712f242958420a83d490a70ed" + ] + }, + { + "position": [ + -17.6641, + 0.35487, + -0.26724 + ], + "radius": null, + "object_id": 29, + "object_name": "0_0_29", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "observable_viewpoint_ids": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_31_newN_0", + "0_edge_110_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "14c540221298447da11bf71477d7fbf1", + "87870f8cba81492b8ef631196a2f6560", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_31_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_110_newN_0" + ] + } + ], + "PuKPg4mmafe.glb_sofa": [ + { + "position": [ + -14.4196, + 0.46192, + 8.49954 + ], + "radius": null, + "object_id": 35, + "object_name": "0_0_35", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "cb5f8c9a4a84477f99637276f00cfb2b", + "observable_viewpoint_ids": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "position": [ + -16.4278, + 0.58777, + 7.97424 + ], + "radius": null, + "object_id": 49, + "object_name": "0_0_49", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "cb5f8c9a4a84477f99637276f00cfb2b", + "observable_viewpoint_ids": [ + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "position": [ + -13.8707, + 0.47082, + -4.26786 + ], + "radius": null, + "object_id": 37, + "object_name": "0_0_37", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_0_newN_1", + "observable_viewpoint_ids": [ + "0_edge_3_newN_2", + "0_edge_3_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_0_newN_1", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "position": [ + -9.57178, + 0.48514, + -6.13533 + ], + "radius": null, + "object_id": 38, + "object_name": "0_0_38", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_1_newN_0", + "observable_viewpoint_ids": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "d260eaeca5694719868f318ab468be27" + ] + }, + { + "position": [ + -5.63898, + 0.46516, + -7.76895 + ], + "radius": null, + "object_id": 40, + "object_name": "0_0_40", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_47_newN_1", + "observable_viewpoint_ids": [ + "1611d119a70b46869c6e12117aa71972", + "e26e187d102947e0a9a9bb050563e28d", + "0_edge_47_newN_1", + "0_edge_5_newN_2" + ] + }, + { + "position": [ + -18.4833, + 0.58735, + 10.482 + ], + "radius": null, + "object_id": 44, + "object_name": "0_0_44", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_36_newN_2", + "observable_viewpoint_ids": [ + "0_edge_36_newN_2", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "c0a8647aead54f7295512181bac0440e", + "cb5f8c9a4a84477f99637276f00cfb2b", + "0_edge_36_newN_1" + ] + }, + { + "position": [ + -22.0639, + 0.59052, + 6.97074 + ], + "radius": null, + "object_id": 32, + "object_name": "0_0_32", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_32_newN_1", + "observable_viewpoint_ids": [ + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "0_edge_32_newN_2", + "0_edge_32_newN_0", + "0_edge_111_newN_2", + "0_edge_32_newN_1" + ] + }, + { + "position": [ + -2.1625, + 0.51835, + -9.29467 + ], + "radius": null, + "object_id": 48, + "object_name": "0_0_48", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "bb55c5f20f784105bae11a40f33cf7d9", + "observable_viewpoint_ids": [ + "bb55c5f20f784105bae11a40f33cf7d9", + "e26e187d102947e0a9a9bb050563e28d", + "10_edge_158_newN_0", + "0_edge_151_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_36_newN_2", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "e26e187d102947e0a9a9bb050563e28d", + "0_edge_3_newN_1", + "0_edge_47_newN_1", + "0_edge_32_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_0_newN_1", + "0_edge_32_newN_0", + "0_edge_111_newN_2", + "0_edge_36_newN_1", + "0_edge_98_newN_1", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_3_newN_2", + "0_edge_98_newN_3", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_5_newN_2", + "0_edge_1_newN_0", + "c0a8647aead54f7295512181bac0440e", + "cb5f8c9a4a84477f99637276f00cfb2b", + "0_edge_28_newN_0", + "10_edge_158_newN_0", + "0_edge_151_newN_0", + "1611d119a70b46869c6e12117aa71972", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_32_newN_2", + "2ad491d5db914f9689bfec52a694dd18", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + } + ], + "PuKPg4mmafe.glb_chair": [ + { + "position": [ + 3.4427, + 0.56595, + 41.1628 + ], + "radius": null, + "object_id": 170, + "object_name": "0_4_170", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_1", + "observable_viewpoint_ids": [ + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669" + ] + }, + { + "position": [ + 3.16552, + 0.61453, + 41.9631 + ], + "radius": null, + "object_id": 156, + "object_name": "0_4_156", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_1", + "observable_viewpoint_ids": [ + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "544ccad03803403c97721228e7cc9669" + ] + }, + { + "position": [ + 2.65884, + 0.5705, + 41.6389 + ], + "radius": null, + "object_id": 139, + "object_name": "0_4_139", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_0", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 2.47783, + 0.57287, + 41.1861 + ], + "radius": null, + "object_id": 130, + "object_name": "0_4_130", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_0", + "observable_viewpoint_ids": [ + "0_edge_59_newN_1", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 2.78441, + 0.54982, + 43.4832 + ], + "radius": null, + "object_id": 129, + "object_name": "0_4_129", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_87_newN_1", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 2.19147, + 0.58181, + 43.4343 + ], + "radius": null, + "object_id": 176, + "object_name": "0_4_176", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_87_newN_1", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "0_edge_59_newN_1", + "a3e731b8c53346cbad60c56777279606", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 3.26802, + 0.56636, + 44.0519 + ], + "radius": null, + "object_id": 158, + "object_name": "0_4_158", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + -5.21422, + 0.47349, + 10.3082 + ], + "radius": null, + "object_id": 62, + "object_name": "0_1_62", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "3875b9ad36924b869985fed0412bc926", + "observable_viewpoint_ids": [ + "3875b9ad36924b869985fed0412bc926" + ] + }, + { + "position": [ + 2.47141, + 0.58936, + 44.0588 + ], + "radius": null, + "object_id": 173, + "object_name": "0_4_173", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_73_newN_0", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "0_edge_59_newN_1", + "a3e731b8c53346cbad60c56777279606", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 0.69436, + 0.5687, + 43.6025 + ], + "radius": null, + "object_id": 147, + "object_name": "0_4_147", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "63b2f39fcc844216ada0b28c0873ae61", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "255f67f42d6447d0996f35abb4a445a9", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 0.28416, + 0.58977, + 41.9632 + ], + "radius": null, + "object_id": 161, + "object_name": "0_4_161", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "255f67f42d6447d0996f35abb4a445a9", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + -0.59715, + 0.56217, + 44.3135 + ], + "radius": null, + "object_id": 154, + "object_name": "0_4_154", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_74_newN_1", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "63b2f39fcc844216ada0b28c0873ae61", + "2e1d19c78bc74e1cb4a13927c3050e14", + "255f67f42d6447d0996f35abb4a445a9", + "0_edge_73_newN_0", + "0_edge_144_newN_1", + "a369445bc9e0429a868d5dc11e365f05", + "0_edge_87_newN_2", + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + -0.05864, + 0.57732, + 41.2541 + ], + "radius": null, + "object_id": 162, + "object_name": "0_4_162", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", + "observable_viewpoint_ids": [ + "255f67f42d6447d0996f35abb4a445a9", + "63b2f39fcc844216ada0b28c0873ae61", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 0.25442, + 0.59523, + 41.1911 + ], + "radius": null, + "object_id": 152, + "object_name": "0_4_152", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "fe3bfd1d61ec4682991ac250f0791ae1", + "255f67f42d6447d0996f35abb4a445a9", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 0.42582, + 0.62279, + 44.3178 + ], + "radius": null, + "object_id": 174, + "object_name": "0_4_174", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_87_newN_2", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 7.85715, + 0.84603, + 46.0003 + ], + "radius": null, + "object_id": 250, + "object_name": "0_5_250", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_84_newN_4", + "observable_viewpoint_ids": [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4" + ] + }, + { + "position": [ + 2.08519, + 0.5674, + 45.9242 + ], + "radius": null, + "object_id": 163, + "object_name": "0_4_163", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "position": [ + 3.11765, + 0.60369, + 46.7249 + ], + "radius": null, + "object_id": 171, + "object_name": "0_4_171", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "observable_viewpoint_ids": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849" + ] + }, + { + "position": [ + -0.15109, + 0.57088, + 43.9566 + ], + "radius": null, + "object_id": 157, + "object_name": "0_4_157", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_87_newN_2", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "255f67f42d6447d0996f35abb4a445a9", + "0_edge_87_newN_1", + "0_edge_87_newN_2", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + -1.6816, + 0.55207, + 41.9917 + ], + "radius": null, + "object_id": 160, + "object_name": "0_4_160", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "fe3bfd1d61ec4682991ac250f0791ae1", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "fe3bfd1d61ec4682991ac250f0791ae1", + "255f67f42d6447d0996f35abb4a445a9", + "0_edge_148_newN_0", + "0_edge_148_newN_2" + ] + }, + { + "position": [ + 1.41997, + 0.62791, + 45.3279 + ], + "radius": null, + "object_id": 167, + "object_name": "0_4_167", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_73_newN_0", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "position": [ + 2.40364, + 0.56124, + 46.8782 + ], + "radius": null, + "object_id": 127, + "object_name": "0_4_127", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "observable_viewpoint_ids": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "position": [ + 9.07276, + 0.72036, + 46.2944 + ], + "radius": null, + "object_id": 205, + "object_name": "0_5_205", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_84_newN_4", + "observable_viewpoint_ids": [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4" + ] + }, + { + "position": [ + 8.21909, + 0.8794, + 41.1746 + ], + "radius": null, + "object_id": 262, + "object_name": "0_5_262", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "observable_viewpoint_ids": [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "6b06f294636f4fcd9bddeb75cda61c6d", + "544ccad03803403c97721228e7cc9669" + ] + }, + { + "position": [ + 7.6253, + 0.86406, + 41.1662 + ], + "radius": null, + "object_id": 186, + "object_name": "0_5_186", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "544ccad03803403c97721228e7cc9669", + "observable_viewpoint_ids": [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "6b06f294636f4fcd9bddeb75cda61c6d", + "544ccad03803403c97721228e7cc9669" + ] + }, + { + "position": [ + 1.30428, + 0.57186, + 45.9295 + ], + "radius": null, + "object_id": 172, + "object_name": "0_4_172", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "position": [ + 8.72831, + 0.88316, + 41.0929 + ], + "radius": null, + "object_id": 286, + "object_name": "0_5_286", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "observable_viewpoint_ids": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "544ccad03803403c97721228e7cc9669" + ] + }, + { + "position": [ + -1.12267, + 0.61323, + 43.2368 + ], + "radius": null, + "object_id": 124, + "object_name": "0_4_124", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", + "observable_viewpoint_ids": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "255f67f42d6447d0996f35abb4a445a9", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_148_newN_0", + "0_edge_148_newN_2", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 9.3329, + 0.88319, + 41.089 + ], + "radius": null, + "object_id": 226, + "object_name": "0_5_226", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "observable_viewpoint_ids": [ + "6b06f294636f4fcd9bddeb75cda61c6d" + ] + }, + { + "position": [ + 3.19166, + 0.58263, + 47.72 + ], + "radius": null, + "object_id": 177, + "object_name": "0_4_177", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "observable_viewpoint_ids": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849" + ] + }, + { + "position": [ + 10.023, + 0.7345, + 46.0821 + ], + "radius": null, + "object_id": 287, + "object_name": "0_5_287", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_84_newN_4", + "observable_viewpoint_ids": [ + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + -1.68588, + 0.55899, + 42.809 + ], + "radius": null, + "object_id": 141, + "object_name": "0_4_141", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_148_newN_2", + "observable_viewpoint_ids": [ + "0_edge_148_newN_1", + "fe3bfd1d61ec4682991ac250f0791ae1", + "255f67f42d6447d0996f35abb4a445a9", + "0_edge_148_newN_0", + "0_edge_148_newN_2", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 2.13019, + 0.66104, + 47.5074 + ], + "radius": null, + "object_id": 143, + "object_name": "0_4_143", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", + "observable_viewpoint_ids": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "position": [ + 10.4464, + 0.74519, + 45.49549 + ], + "radius": null, + "object_id": 306, + "object_name": "0_5_306", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_84_newN_4", + "observable_viewpoint_ids": [ + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + 9.90836, + 0.85801, + 41.0623 + ], + "radius": null, + "object_id": 297, + "object_name": "0_5_297", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "observable_viewpoint_ids": [ + "6b06f294636f4fcd9bddeb75cda61c6d" + ] + }, + { + "position": [ + -2.03744, + 0.59422, + 43.0938 + ], + "radius": null, + "object_id": 140, + "object_name": "0_4_140", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_148_newN_1", + "observable_viewpoint_ids": [ + "255f67f42d6447d0996f35abb4a445a9", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_148_newN_0", + "0_edge_148_newN_2", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 10.0338, + 0.75006, + 46.81639 + ], + "radius": null, + "object_id": 267, + "object_name": "0_5_267", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d", + "0_edge_84_newN_4" + ] + }, + { + "position": [ + 10.5195, + 0.86277, + 41.0914 + ], + "radius": null, + "object_id": 246, + "object_name": "0_5_246", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "observable_viewpoint_ids": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d" + ] + }, + { + "position": [ + -1.89984, + 0.63548, + 43.6443 + ], + "radius": null, + "object_id": 149, + "object_name": "0_4_149", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_148_newN_0", + "observable_viewpoint_ids": [ + "255f67f42d6447d0996f35abb4a445a9", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_74_newN_1", + "0_edge_148_newN_0", + "0_edge_148_newN_2", + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_148_newN_1" + ] + }, + { + "position": [ + 11.2872, + 0.75426, + 45.3561 + ], + "radius": null, + "object_id": 276, + "object_name": "0_5_276", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + 11.6134, + 0.75466, + 45.6202 + ], + "radius": null, + "object_id": 263, + "object_name": "0_5_263", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "0_edge_84_newN_4", + "5f2a3396b86045d5bc7f283d1e48d8fd", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + -1.20958, + 0.6543, + 45.7548 + ], + "radius": null, + "object_id": 164, + "object_name": "0_4_164", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", + "observable_viewpoint_ids": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "a369445bc9e0429a868d5dc11e365f05", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 11.0036, + 0.88374, + 41.0591 + ], + "radius": null, + "object_id": 235, + "object_name": "0_5_235", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "observable_viewpoint_ids": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + -1.96076, + 0.58532, + 45.4086 + ], + "radius": null, + "object_id": 137, + "object_name": "0_4_137", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_144_newN_0", + "observable_viewpoint_ids": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_144_newN_1", + "a369445bc9e0429a868d5dc11e365f05", + "0_edge_148_newN_0", + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + -1.04865, + 0.58849, + 47.1119 + ], + "radius": null, + "object_id": 134, + "object_name": "0_4_134", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a369445bc9e0429a868d5dc11e365f05", + "observable_viewpoint_ids": [ + "a369445bc9e0429a868d5dc11e365f05", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14" + ] + }, + { + "position": [ + -1.69132, + 0.46379, + 46.07619 + ], + "radius": null, + "object_id": 136, + "object_name": "0_4_136", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a369445bc9e0429a868d5dc11e365f05", + "observable_viewpoint_ids": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_144_newN_1", + "a369445bc9e0429a868d5dc11e365f05", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_144_newN_0" + ] + }, + { + "position": [ + -2.22693, + 0.58039, + 45.8021 + ], + "radius": null, + "object_id": 148, + "object_name": "0_4_148", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_144_newN_1", + "observable_viewpoint_ids": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_144_newN_1", + "a369445bc9e0429a868d5dc11e365f05", + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 13.0858, + 0.76704, + 45.9616 + ], + "radius": null, + "object_id": 291, + "object_name": "0_5_291", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5f2a3396b86045d5bc7f283d1e48d8fd", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + 13.8438, + 0.75444, + 45.5537 + ], + "radius": null, + "object_id": 278, + "object_name": "0_5_278", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + 11.979, + 0.74372, + 46.6843 + ], + "radius": null, + "object_id": 252, + "object_name": "0_5_252", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "89fc715c56814d59aaf7eaa522fe199a", + "dbfc751a205b487382c667588623d464", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + 14.5227, + 0.6841, + 45.71811 + ], + "radius": null, + "object_id": 264, + "object_name": "0_5_264", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a" + ] + }, + { + "position": [ + -10.1022, + 0.59302, + 8.00709 + ], + "radius": null, + "object_id": 89, + "object_name": "0_2_89", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "observable_viewpoint_ids": [ + "3a5f7c6c250e4d56b96ff967489de836" + ] + }, + { + "position": [ + 15.2301, + 0.79917, + 43.189 + ], + "radius": null, + "object_id": 308, + "object_name": "0_5_308", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1" + ] + }, + { + "position": [ + 15.2314, + 0.74214, + 43.8685 + ], + "radius": null, + "object_id": 253, + "object_name": "0_5_253", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1" + ] + }, + { + "position": [ + 15.2511, + 0.75321, + 42.6316 + ], + "radius": null, + "object_id": 213, + "object_name": "0_5_213", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1" + ] + }, + { + "position": [ + 15.2907, + 0.894, + 44.1329 + ], + "radius": null, + "object_id": 288, + "object_name": "0_5_288", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1" + ] + }, + { + "position": [ + 15.2273, + 0.86459, + 41.7795 + ], + "radius": null, + "object_id": 200, + "object_name": "0_5_200", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1" + ] + }, + { + "position": [ + 15.2402, + 0.826, + 41.23989 + ], + "radius": null, + "object_id": 214, + "object_name": "0_5_214", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "observable_viewpoint_ids": [ + "122154d283494710ae5e592fc99bf8e1" + ] + }, + { + "position": [ + 14.9576, + 0.85565, + 46.5206 + ], + "radius": null, + "object_id": 247, + "object_name": "0_5_247", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + -8.34736, + 0.553, + -0.39507 + ], + "radius": null, + "object_id": 46, + "object_name": "0_0_46", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_11_newN_0", + "observable_viewpoint_ids": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432" + ] + }, + { + "position": [ + 14.8341, + 0.82883, + 47.18439 + ], + "radius": null, + "object_id": 209, + "object_name": "0_5_209", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "89fc715c56814d59aaf7eaa522fe199a", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + -10.9152, + 0.64899, + -2.34432 + ], + "radius": null, + "object_id": 52, + "object_name": "0_0_52", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_2_newN_1", + "observable_viewpoint_ids": [ + "87870f8cba81492b8ef631196a2f6560", + "0_edge_2_newN_1", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "a9db6e3e630f4490b8aaedc387b3adad" + ] + }, + { + "position": [ + -2.2958, + 0.67291, + -5.75629 + ], + "radius": null, + "object_id": 55, + "object_name": "0_0_55", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "63ac2b2ef1e0457385976d17655da263", + "observable_viewpoint_ids": [ + "5fb26cecda204c40ae520fbda21ce82e", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2" + ] + }, + { + "position": [ + -11.6341, + 0.61544, + -3.97303 + ], + "radius": null, + "object_id": 45, + "object_name": "0_0_45", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_3_newN_2", + "observable_viewpoint_ids": [ + "0_edge_3_newN_2", + "0_edge_2_newN_1", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_0_newN_1" + ] + }, + { + "position": [ + -6.5345, + 0.45474, + -5.87353 + ], + "radius": null, + "object_id": 39, + "object_name": "0_0_39", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_5_newN_2", + "observable_viewpoint_ids": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "0_edge_5_newN_2", + "daa0aa844488426a9174a7051698a417" + ] + }, + { + "position": [ + -18.9982, + 0.53997, + 5.69113 + ], + "radius": null, + "object_id": 33, + "object_name": "0_0_33", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c0a8647aead54f7295512181bac0440e", + "observable_viewpoint_ids": [ + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_136_newN_2", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_28_newN_0", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "position": [ + -18.885, + 0.54767, + 6.00974 + ], + "radius": null, + "object_id": 34, + "object_name": "0_0_34", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c0a8647aead54f7295512181bac0440e", + "observable_viewpoint_ids": [ + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_28_newN_0", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "position": [ + -3.79642, + 0.46595, + -6.9212 + ], + "radius": null, + "object_id": 41, + "object_name": "0_0_41", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_47_newN_0", + "observable_viewpoint_ids": [ + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417" + ] + }, + { + "position": [ + -0.48763, + 0.62144, + -8.40176 + ], + "radius": null, + "object_id": 42, + "object_name": "0_0_42", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_130_newN_1", + "observable_viewpoint_ids": [ + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "0_edge_151_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_151_newN_1" + ] + }, + { + "position": [ + -1.69191, + 0.504, + 5.53 + ], + "radius": null, + "object_id": 114, + "object_name": "0_3_114", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "97199ffe16bc45d0acb64341501e467e", + "observable_viewpoint_ids": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "37f62db110c94798b2eec3c180d2fa39" + ] + }, + { + "position": [ + 9.1433, + 0.78707, + 54.51649 + ], + "radius": null, + "object_id": 179, + "object_name": "0_5_179", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf", + "6488e19b0c5249eabb792c2bbebf8137" + ] + }, + { + "position": [ + 7.7953, + 0.80006, + 52.7343 + ], + "radius": null, + "object_id": 183, + "object_name": "0_5_183", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 10.362, + 0.69977, + 48.876 + ], + "radius": null, + "object_id": 184, + "object_name": "0_5_184", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd" + ] + }, + { + "position": [ + 9.09772, + 0.77497, + 55.9557 + ], + "radius": null, + "object_id": 190, + "object_name": "0_5_190", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", + "observable_viewpoint_ids": [ + "6488e19b0c5249eabb792c2bbebf8137", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 11.3388, + 0.73843, + 50.1316 + ], + "radius": null, + "object_id": 191, + "object_name": "0_5_191", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 10.5145, + 0.73388, + 51.4166 + ], + "radius": null, + "object_id": 197, + "object_name": "0_5_197", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 14.1885, + 0.7772, + 56.0898 + ], + "radius": null, + "object_id": 198, + "object_name": "0_5_198", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a31586a01b5947c89f02d9fa852b0d97", + "observable_viewpoint_ids": [ + "a31586a01b5947c89f02d9fa852b0d97", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 9.26476, + 0.73471, + 52.7075 + ], + "radius": null, + "object_id": 201, + "object_name": "0_5_201", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 12.3931, + 0.74051, + 51.817 + ], + "radius": null, + "object_id": 203, + "object_name": "0_5_203", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 10.6384, + 0.76555, + 47.3681 + ], + "radius": null, + "object_id": 204, + "object_name": "0_5_204", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd" + ] + }, + { + "position": [ + 15.2488, + 0.89498, + 52.2253 + ], + "radius": null, + "object_id": 207, + "object_name": "0_5_207", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 12.04, + 0.74111, + 49.5499 + ], + "radius": null, + "object_id": 212, + "object_name": "0_5_212", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 13.4419, + 0.76326, + 50.2943 + ], + "radius": null, + "object_id": 215, + "object_name": "0_5_215", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 12.9503, + 0.73928, + 49.5215 + ], + "radius": null, + "object_id": 217, + "object_name": "0_5_217", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 14.2799, + 0.76245, + 53.3754 + ], + "radius": null, + "object_id": 218, + "object_name": "0_5_218", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_0" + ] + }, + { + "position": [ + 13.8507, + 0.74803, + 51.3672 + ], + "radius": null, + "object_id": 219, + "object_name": "0_5_219", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 10.4958, + 0.77559, + 54.3443 + ], + "radius": null, + "object_id": 220, + "object_name": "0_5_220", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "6488e19b0c5249eabb792c2bbebf8137", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 11.8441, + 0.75142, + 48.5244 + ], + "radius": null, + "object_id": 221, + "object_name": "0_5_221", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 12.949, + 0.74758, + 46.9851 + ], + "radius": null, + "object_id": 224, + "object_name": "0_5_224", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 9.39263, + 0.77676, + 49.93119 + ], + "radius": null, + "object_id": 229, + "object_name": "0_5_229", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d" + ] + }, + { + "position": [ + 14.7016, + 0.71242, + 51.4831 + ], + "radius": null, + "object_id": 230, + "object_name": "0_5_230", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 13.358, + 0.68633, + 47.4098 + ], + "radius": null, + "object_id": 232, + "object_name": "0_5_232", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 11.2636, + 0.74238, + 54.0295 + ], + "radius": null, + "object_id": 233, + "object_name": "0_5_233", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "434eafc01e8e4a32beeeddba478776bf", + "0_edge_90_newN_0" + ] + }, + { + "position": [ + 13.633, + 0.7049, + 54.5672 + ], + "radius": null, + "object_id": 236, + "object_name": "0_5_236", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "0_edge_90_newN_1", + "0_edge_90_newN_0", + "ed5878df5c86400499d7651eab1c4a35", + "a31586a01b5947c89f02d9fa852b0d97", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 14.5405, + 0.71502, + 54.2848 + ], + "radius": null, + "object_id": 237, + "object_name": "0_5_237", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_0" + ] + }, + { + "position": [ + 13.2736, + 0.69504, + 48.9356 + ], + "radius": null, + "object_id": 238, + "object_name": "0_5_238", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 9.05631, + 0.73781, + 47.5296 + ], + "radius": null, + "object_id": 240, + "object_name": "0_5_240", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d" + ] + }, + { + "position": [ + 11.1378, + 0.74281, + 50.9056 + ], + "radius": null, + "object_id": 242, + "object_name": "0_5_242", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 14.2402, + 0.69179, + 48.6498 + ], + "radius": null, + "object_id": 243, + "object_name": "0_5_243", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 11.4803, + 0.75385, + 53.006 + ], + "radius": null, + "object_id": 244, + "object_name": "0_5_244", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 14.7204, + 0.68744, + 48.7295 + ], + "radius": null, + "object_id": 248, + "object_name": "0_5_248", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 8.3676, + 0.69941, + 54.2589 + ], + "radius": null, + "object_id": 249, + "object_name": "0_5_249", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 9.49354, + 0.73059, + 51.9138 + ], + "radius": null, + "object_id": 251, + "object_name": "0_5_251", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 7.75681, + 0.87892, + 51.2737 + ], + "radius": null, + "object_id": 258, + "object_name": "0_5_258", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7" + ] + }, + { + "position": [ + 10.774, + 0.68365, + 49.8134 + ], + "radius": null, + "object_id": 259, + "object_name": "0_5_259", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 9.23472, + 0.70499, + 51.31969 + ], + "radius": null, + "object_id": 260, + "object_name": "0_5_260", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 11.0826, + 0.75166, + 48.3113 + ], + "radius": null, + "object_id": 265, + "object_name": "0_5_265", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 12.0424, + 0.73626, + 51.127 + ], + "radius": null, + "object_id": 268, + "object_name": "0_5_268", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 14.7807, + 0.88878, + 54.4694 + ], + "radius": null, + "object_id": 269, + "object_name": "0_5_269", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_0", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 11.5935, + 0.70388, + 47.138 + ], + "radius": null, + "object_id": 271, + "object_name": "0_5_271", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 10.7627, + 0.74055, + 52.7702 + ], + "radius": null, + "object_id": 272, + "object_name": "0_5_272", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 10.2571, + 0.76233, + 55.0696 + ], + "radius": null, + "object_id": 275, + "object_name": "0_5_275", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "6488e19b0c5249eabb792c2bbebf8137", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 13.3439, + 0.7067, + 51.7482 + ], + "radius": null, + "object_id": 277, + "object_name": "0_5_277", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 13.4687, + 0.76334, + 55.5105 + ], + "radius": null, + "object_id": 280, + "object_name": "0_5_280", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_1", + "observable_viewpoint_ids": [ + "a31586a01b5947c89f02d9fa852b0d97", + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_1", + "0_edge_90_newN_0" + ] + }, + { + "position": [ + 13.1423, + 0.7077, + 52.5444 + ], + "radius": null, + "object_id": 281, + "object_name": "0_5_281", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 7.24238, + 0.88322, + 46.5956 + ], + "radius": null, + "object_id": 282, + "object_name": "0_5_282", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0db658dc49514ca18be7b44ceb363849", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d" + ] + }, + { + "position": [ + 12.0433, + 0.76954, + 55.83089 + ], + "radius": null, + "object_id": 283, + "object_name": "0_5_283", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_1", + "observable_viewpoint_ids": [ + "a31586a01b5947c89f02d9fa852b0d97", + "6488e19b0c5249eabb792c2bbebf8137", + "0_edge_90_newN_1", + "0_edge_90_newN_0" + ] + }, + { + "position": [ + 14.8649, + 0.83658, + 50.1307 + ], + "radius": null, + "object_id": 284, + "object_name": "0_5_284", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 15.0004, + 0.80171, + 52.9754 + ], + "radius": null, + "object_id": 285, + "object_name": "0_5_285", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 12.2288, + 0.75446, + 55.2181 + ], + "radius": null, + "object_id": 289, + "object_name": "0_5_289", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_1", + "observable_viewpoint_ids": [ + "0_edge_90_newN_1", + "0_edge_90_newN_0", + "ed5878df5c86400499d7651eab1c4a35", + "a31586a01b5947c89f02d9fa852b0d97", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 10.3972, + 0.68599, + 52.0555 + ], + "radius": null, + "object_id": 292, + "object_name": "0_5_292", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 15.0756, + 0.85444, + 49.3745 + ], + "radius": null, + "object_id": 293, + "object_name": "0_5_293", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 12.1362, + 0.73259, + 52.668 + ], + "radius": null, + "object_id": 294, + "object_name": "0_5_294", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ed5878df5c86400499d7651eab1c4a35", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 11.4491, + 0.77985, + 56.0099 + ], + "radius": null, + "object_id": 295, + "object_name": "0_5_295", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_1", + "observable_viewpoint_ids": [ + "a31586a01b5947c89f02d9fa852b0d97", + "6488e19b0c5249eabb792c2bbebf8137", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 10.628, + 0.76447, + 55.8977 + ], + "radius": null, + "object_id": 296, + "object_name": "0_5_296", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", + "observable_viewpoint_ids": [ + "6488e19b0c5249eabb792c2bbebf8137", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 14.2275, + 0.70219, + 50.4166 + ], + "radius": null, + "object_id": 298, + "object_name": "0_5_298", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "dbfc751a205b487382c667588623d464", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 11.9869, + 0.75266, + 54.3653 + ], + "radius": null, + "object_id": 301, + "object_name": "0_5_301", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_0", + "observable_viewpoint_ids": [ + "434eafc01e8e4a32beeeddba478776bf", + "0_edge_90_newN_0", + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 13.4671, + 0.75859, + 53.184 + ], + "radius": null, + "object_id": 303, + "object_name": "0_5_303", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_0" + ] + }, + { + "position": [ + 14.2146, + 0.73701, + 47.5674 + ], + "radius": null, + "object_id": 307, + "object_name": "0_5_307", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 7.75501, + 0.84173, + 49.1883 + ], + "radius": null, + "object_id": 309, + "object_name": "0_5_309", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d" + ] + }, + { + "position": [ + 7.80054, + 0.56994, + 54.4682 + ], + "radius": null, + "object_id": 310, + "object_name": "0_5_310", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 9.42232, + 0.76854, + 55.2115 + ], + "radius": null, + "object_id": 311, + "object_name": "0_5_311", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", + "observable_viewpoint_ids": [ + "6488e19b0c5249eabb792c2bbebf8137", + "434eafc01e8e4a32beeeddba478776bf", + "5e54afb639e8489282ebf3ac01821cc7" + ] + }, + { + "position": [ + 13.3296, + 0.57011, + 55.1943 + ], + "radius": null, + "object_id": 313, + "object_name": "0_5_313", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_1", + "observable_viewpoint_ids": [ + "0_edge_90_newN_1", + "0_edge_90_newN_0", + "a31586a01b5947c89f02d9fa852b0d97", + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 8.61962, + 0.47669, + 52.9147 + ], + "radius": null, + "object_id": 318, + "object_name": "0_5_318", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "all_observation_viewpoint_ids": [ + "87870f8cba81492b8ef631196a2f6560", + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_136_newN_2", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_144_newN_1", + "daa0aa844488426a9174a7051698a417", + "0_edge_11_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_3_newN_1", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_90_newN_0", + "0_edge_130_newN_0", + "aa3049db9ce543e0bb9456793ad1ea2e", + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_151_newN_1", + "dbfc751a205b487382c667588623d464", + "ee62dcd77a3446028da94a7b93a2afe7", + "0_edge_59_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "0_edge_87_newN_1", + "0_edge_2_newN_1", + "0_edge_130_newN_1", + "3a5f7c6c250e4d56b96ff967489de836", + "434eafc01e8e4a32beeeddba478776bf", + "d260eaeca5694719868f318ab468be27", + "0_edge_148_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_0_newN_1", + "0_edge_144_newN_0", + "0_edge_90_newN_1", + "a3e731b8c53346cbad60c56777279606", + "0_edge_148_newN_1", + "c8225c23e023472188041a93756df582", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_84_newN_4", + "0_edge_3_newN_2", + "255f67f42d6447d0996f35abb4a445a9", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_5_newN_2", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_59_newN_1", + "0_edge_87_newN_2", + "a369445bc9e0429a868d5dc11e365f05", + "ce911e4041d24673bc7e5d80dd645630", + "9777c924f783428ca832493cef2b5259", + "0_edge_3_newN_0", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "c0a8647aead54f7295512181bac0440e", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_8_newN_2", + "0_edge_11_newN_0", + "5f2a3396b86045d5bc7f283d1e48d8fd", + "5fb26cecda204c40ae520fbda21ce82e", + "5e54afb639e8489282ebf3ac01821cc7", + "0_edge_28_newN_0", + "10_edge_158_newN_0", + "0_edge_151_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "0_edge_32_newN_2", + "7b7943b56b9a4febae48c82f6e3f507d", + "a31586a01b5947c89f02d9fa852b0d97", + "ed5878df5c86400499d7651eab1c4a35", + "0_edge_148_newN_2", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "6488e19b0c5249eabb792c2bbebf8137", + "0_edge_74_newN_1", + "0db658dc49514ca18be7b44ceb363849" + ] + } + ], + "PuKPg4mmafe.glb_table": [ + { + "position": [ + -13.288, + 0.36067, + -2.89574 + ], + "radius": null, + "object_id": 51, + "object_name": "0_0_51", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_3_newN_1", + "observable_viewpoint_ids": [ + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_0_newN_1" + ] + }, + { + "position": [ + -8.96756, + 0.41627, + -4.39638 + ], + "radius": null, + "object_id": 53, + "object_name": "0_0_53", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_1_newN_0", + "observable_viewpoint_ids": [ + "0_edge_2_newN_1", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "d260eaeca5694719868f318ab468be27" + ] + }, + { + "position": [ + -15.1411, + 0.3459, + 7.46951 + ], + "radius": null, + "object_id": 50, + "object_name": "0_0_50", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "deb943d89d2a44ce8850edec3c7308f9", + "observable_viewpoint_ids": [ + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "position": [ + -5.09511, + 0.36948, + -6.35781 + ], + "radius": null, + "object_id": 54, + "object_name": "0_0_54", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_47_newN_1", + "observable_viewpoint_ids": [ + "0_edge_45_newN_0", + "0_edge_5_newN_2", + "daa0aa844488426a9174a7051698a417" + ] + }, + { + "position": [ + 0.18295, + 0.72556, + 4.04129 + ], + "radius": null, + "object_id": 103, + "object_name": "0_3_103", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", + "observable_viewpoint_ids": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "37f62db110c94798b2eec3c180d2fa39", + "ee62dcd77a3446028da94a7b93a2afe7", + "97199ffe16bc45d0acb64341501e467e" + ] + }, + { + "position": [ + -1.66032, + 0.35925, + -7.95222 + ], + "radius": null, + "object_id": 56, + "object_name": "0_0_56", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "63ac2b2ef1e0457385976d17655da263", + "observable_viewpoint_ids": [ + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0" + ] + }, + { + "position": [ + -2.07301, + 0.31103, + -9.12418 + ], + "radius": null, + "object_id": 43, + "object_name": "0_0_43", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "bb55c5f20f784105bae11a40f33cf7d9", + "observable_viewpoint_ids": [ + "bb55c5f20f784105bae11a40f33cf7d9", + "e26e187d102947e0a9a9bb050563e28d", + "10_edge_158_newN_0", + "0_edge_151_newN_0" + ] + }, + { + "position": [ + 2.80671, + 0.59676, + 41.59719 + ], + "radius": null, + "object_id": 150, + "object_name": "0_4_150", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_59_newN_1", + "observable_viewpoint_ids": [ + "0_edge_59_newN_1", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "544ccad03803403c97721228e7cc9669" + ] + }, + { + "position": [ + 2.67, + 0.82531, + 43.5458 + ], + "radius": null, + "object_id": 168, + "object_name": "0_4_168", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_87_newN_1", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_1", + "a3e731b8c53346cbad60c56777279606", + "0_edge_59_newN_0" + ] + }, + { + "position": [ + 0.26831, + 0.7376, + 43.7696 + ], + "radius": null, + "object_id": 166, + "object_name": "0_4_166", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_87_newN_2", + "observable_viewpoint_ids": [ + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "255f67f42d6447d0996f35abb4a445a9", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_87_newN_2", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + -0.2558, + 0.82459, + 41.6203 + ], + "radius": null, + "object_id": 178, + "object_name": "0_4_178", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "255f67f42d6447d0996f35abb4a445a9", + "observable_viewpoint_ids": [ + "63b2f39fcc844216ada0b28c0873ae61", + "fe3bfd1d61ec4682991ac250f0791ae1", + "255f67f42d6447d0996f35abb4a445a9" + ] + }, + { + "position": [ + 1.53985, + 0.83488, + 45.5575 + ], + "radius": null, + "object_id": 153, + "object_name": "0_4_153", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_73_newN_0", + "observable_viewpoint_ids": [ + "0_edge_73_newN_0", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "position": [ + 2.72906, + 0.79996, + 47.181 + ], + "radius": null, + "object_id": 142, + "object_name": "0_4_142", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "observable_viewpoint_ids": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849" + ] + }, + { + "position": [ + -1.74151, + 0.83406, + 43.265 + ], + "radius": null, + "object_id": 144, + "object_name": "0_4_144", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_148_newN_1", + "observable_viewpoint_ids": [ + "255f67f42d6447d0996f35abb4a445a9", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_148_newN_0", + "0_edge_148_newN_2", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + 8.32887, + 0.82765, + 46.8089 + ], + "radius": null, + "object_id": 187, + "object_name": "0_5_187", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d", + "0_edge_84_newN_4" + ] + }, + { + "position": [ + 10.9956, + 0.53234, + 46.3537 + ], + "radius": null, + "object_id": 299, + "object_name": "0_5_299", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_84_newN_4", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "89fc715c56814d59aaf7eaa522fe199a", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64" + ] + }, + { + "position": [ + -1.70694, + 0.86626, + 45.6999 + ], + "radius": null, + "object_id": 175, + "object_name": "0_4_175", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_144_newN_0", + "observable_viewpoint_ids": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_144_newN_1", + "a369445bc9e0429a868d5dc11e365f05", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_74_newN_1" + ] + }, + { + "position": [ + -1.30058, + 0.53309, + 47.6409 + ], + "radius": null, + "object_id": 155, + "object_name": "0_4_155", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "a369445bc9e0429a868d5dc11e365f05", + "observable_viewpoint_ids": [ + "a369445bc9e0429a868d5dc11e365f05", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14" + ] + }, + { + "position": [ + 13.924, + 0.86612, + 46.5727 + ], + "radius": null, + "object_id": 270, + "object_name": "0_5_270", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "89fc715c56814d59aaf7eaa522fe199a", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 11.2265, + 0.87035, + 55.0741 + ], + "radius": null, + "object_id": 194, + "object_name": "0_5_194", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_0", + "observable_viewpoint_ids": [ + "434eafc01e8e4a32beeeddba478776bf", + "0_edge_90_newN_0", + "ed5878df5c86400499d7651eab1c4a35", + "6488e19b0c5249eabb792c2bbebf8137", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 8.74328, + 0.83968, + 49.3149 + ], + "radius": null, + "object_id": 195, + "object_name": "0_5_195", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b7943b56b9a4febae48c82f6e3f507d", + "observable_viewpoint_ids": [ + "7b7943b56b9a4febae48c82f6e3f507d" + ] + }, + { + "position": [ + 14.3044, + 0.87687, + 55.2517 + ], + "radius": null, + "object_id": 202, + "object_name": "0_5_202", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_1", + "observable_viewpoint_ids": [ + "a31586a01b5947c89f02d9fa852b0d97", + "c8225c23e023472188041a93756df582", + "0_edge_90_newN_0", + "0_edge_90_newN_1" + ] + }, + { + "position": [ + 11.3408, + 0.80744, + 52.0031 + ], + "radius": null, + "object_id": 222, + "object_name": "0_5_222", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "434eafc01e8e4a32beeeddba478776bf", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "position": [ + 14.1426, + 0.86434, + 52.3779 + ], + "radius": null, + "object_id": 225, + "object_name": "0_5_225", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "c8225c23e023472188041a93756df582", + "observable_viewpoint_ids": [ + "ed5878df5c86400499d7651eab1c4a35", + "c8225c23e023472188041a93756df582" + ] + }, + { + "position": [ + 14.0522, + 0.84669, + 49.4634 + ], + "radius": null, + "object_id": 234, + "object_name": "0_5_234", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "dbfc751a205b487382c667588623d464", + "observable_viewpoint_ids": [ + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 11.1311, + 0.53199, + 49.2407 + ], + "radius": null, + "object_id": 241, + "object_name": "0_5_241", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "5f2a3396b86045d5bc7f283d1e48d8fd", + "observable_viewpoint_ids": [ + "5f2a3396b86045d5bc7f283d1e48d8fd", + "dbfc751a205b487382c667588623d464" + ] + }, + { + "position": [ + 8.45067, + 0.86978, + 55.143 + ], + "radius": null, + "object_id": 245, + "object_name": "0_5_245", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "6488e19b0c5249eabb792c2bbebf8137", + "434eafc01e8e4a32beeeddba478776bf", + "5e54afb639e8489282ebf3ac01821cc7" + ] + }, + { + "position": [ + 8.54189, + 0.83949, + 51.947 + ], + "radius": null, + "object_id": 273, + "object_name": "0_5_273", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "5e54afb639e8489282ebf3ac01821cc7", + "observable_viewpoint_ids": [ + "5e54afb639e8489282ebf3ac01821cc7", + "434eafc01e8e4a32beeeddba478776bf" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0db658dc49514ca18be7b44ceb363849", + "0_edge_73_newN_0", + "e26e187d102947e0a9a9bb050563e28d", + "2e1d19c78bc74e1cb4a13927c3050e14", + "daa0aa844488426a9174a7051698a417", + "0_edge_144_newN_1", + "0_edge_3_newN_1", + "0_edge_90_newN_0", + "0_edge_130_newN_0", + "aa3049db9ce543e0bb9456793ad1ea2e", + "5fb68178835247328ebd444ea4207d64", + "ee62dcd77a3446028da94a7b93a2afe7", + "89fc715c56814d59aaf7eaa522fe199a", + "dbfc751a205b487382c667588623d464", + "0_edge_59_newN_0", + "0_edge_87_newN_1", + "0_edge_2_newN_1", + "434eafc01e8e4a32beeeddba478776bf", + "d260eaeca5694719868f318ab468be27", + "0_edge_148_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_0_newN_1", + "0_edge_144_newN_0", + "0_edge_90_newN_1", + "a3e731b8c53346cbad60c56777279606", + "c8225c23e023472188041a93756df582", + "bb55c5f20f784105bae11a40f33cf7d9", + "95402f398bab4d1f83c68015eccd5cc8", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_84_newN_4", + "deb943d89d2a44ce8850edec3c7308f9", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_5_newN_2", + "255f67f42d6447d0996f35abb4a445a9", + "fe3bfd1d61ec4682991ac250f0791ae1", + "0_edge_3_newN_0", + "0_edge_1_newN_0", + "0_edge_59_newN_1", + "0_edge_87_newN_2", + "9777c924f783428ca832493cef2b5259", + "a369445bc9e0429a868d5dc11e365f05", + "544ccad03803403c97721228e7cc9669", + "6488e19b0c5249eabb792c2bbebf8137", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "5f2a3396b86045d5bc7f283d1e48d8fd", + "5e54afb639e8489282ebf3ac01821cc7", + "10_edge_158_newN_0", + "0_edge_151_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "ed5878df5c86400499d7651eab1c4a35", + "7b7943b56b9a4febae48c82f6e3f507d", + "a31586a01b5947c89f02d9fa852b0d97", + "0_edge_148_newN_2", + "37f62db110c94798b2eec3c180d2fa39", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_74_newN_1", + "97199ffe16bc45d0acb64341501e467e" + ] + } + ], + "PuKPg4mmafe.glb_stool": [ + { + "position": [ + -24.0652, + 0.4327, + 0.17905 + ], + "radius": null, + "object_id": 57, + "object_name": "0_0_57", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "121a837c700045e8bd73592a5edf1aee", + "observable_viewpoint_ids": [ + "121a837c700045e8bd73592a5edf1aee", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "all_observation_viewpoint_ids": [ + "ea57049411f1475f9279bb323dc1f999", + "121a837c700045e8bd73592a5edf1aee" + ] + } + ], + "PuKPg4mmafe.glb_picture": [ + { + "position": [ + 3.89124, + 1.42199, + 28.6696 + ], + "radius": null, + "object_id": 84, + "object_name": "0_1_84", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "72dc0c6d62414bbaa9fe67ecfe6305e3", + "observable_viewpoint_ids": [ + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "all_observation_viewpoint_ids": [ + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + } + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3A9AA95ATYPB4MWO73HNAMIZRWZP5H", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.00657, + 0.18397, + 5.40845 + ], + "start_rotation": [ + 0, + 0.6078, + 0, + 0.79409 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.45347, + "euclidean_distance": 6.27922, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75012, + 0.10626, + 1.85897 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_111_newN_2", + "path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:32M8BPYGAVPH3XY4B4AU5M8CWY6IGJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -7.57234, + -0.01603, + 7.2131 + ], + "start_rotation": [ + 0, + 0.3407, + 0, + -0.94017 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 26.14859, + "euclidean_distance": 23.5857, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.15557, + 0.18397, + 27.6444 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + [ + "c835bc9904a846ce88571c2ee3557af0" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3U088ZLJVMW2TO7OMJP6LLU43P60WP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.21711, + 0.18397, + 19.81664 + ], + "start_rotation": [ + 0, + 0.69335, + 0, + -0.7206 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.13176, + "euclidean_distance": 18.76498, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.44066, + -0.01603, + 6.82484 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", + "path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3X4MXAO0BIRQTIRNGW8L5HVRDIPRW5", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.32665, + 0.18397, + 25.69782 + ], + "start_rotation": [ + 0, + 0.1219, + 0, + 0.99254 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.66067, + "euclidean_distance": 16.69468, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.4434, + 0.18397, + 41.37201 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:30ZX6P7VFAYNJEA3U7A5FJTBZU02J6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.9595, + 0.18397, + 24.48206 + ], + "start_rotation": [ + 0, + 0.80719, + 0, + -0.59029 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.92562, + "euclidean_distance": 20.97157, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.45475, + -0.01603, + 6.81429 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3CPLWGV3MQ2U2OMNUEHCIDI6DFY9NH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.29184, + 0.18397, + 24.54765 + ], + "start_rotation": [ + 0, + 0.86705, + 0, + -0.49822 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.25271, + "euclidean_distance": 14.76218, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.94874, + -0.01603, + 10.01932 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3SUWZRL0M0G3QZ7C38BH8GXVAR66E6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.8591, + 0.18397, + 1.75988 + ], + "start_rotation": [ + 0, + 0.19239, + 0, + 0.98132 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.25468, + "euclidean_distance": 2.99737, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.85874, + 0.18397, + 4.69772 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33OOO72IVJOUVZYA3UDFT2P68KTCTC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.70451, + 0.18397, + 28.26928 + ], + "start_rotation": [ + 0, + 0.12771, + 0, + 0.99181 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.07579, + "euclidean_distance": 5.65226, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.96468, + 0.18397, + 27.74913 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:354P56DE9M6N4IQZND0E3B165QR7SS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.59434, + 0.08293, + 13.82549 + ], + "start_rotation": [ + 0, + 0.96675, + 0, + -0.25573 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.04285, + "euclidean_distance": 13.68392, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.4046, + -0.01603, + 6.84614 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", + "path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3A1PQ49WVJKK3NXHN376YN3RTPN1H9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.55142, + 0.18397, + 5.34132 + ], + "start_rotation": [ + 0, + 0.86232, + 0, + -0.50637 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.05231, + "euclidean_distance": 5.09785, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.76552, + 0.10802, + 1.94887 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_32_newN_2", + "path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + [ + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3Q8GYXHFER5SAXNK2YVHQMJSTKTC5E", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.24983, + 0.18397, + 25.20715 + ], + "start_rotation": [ + 0, + 0.99967, + 0, + 0.02567 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.6919, + "euclidean_distance": 17.48442, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.41253, + 0.18397, + 41.50124 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3CCZ6YKWR9MQCZGHQELQOWIKMVA955", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.84146, + 0.18397, + 28.23218 + ], + "start_rotation": [ + 0, + 0.90422, + 0, + 0.42707 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.14198, + "euclidean_distance": 14.1524, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.47225, + 0.18397, + 41.34364 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d" + ], + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + [ + "a3e731b8c53346cbad60c56777279606" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:30BUDKLTXFY77V7YYP1CGAJVDP9E5X", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.00836, + -0.01603, + 10.75387 + ], + "start_rotation": [ + 0, + 0.71762, + 0, + 0.69644 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.77542, + "euclidean_distance": 11.08086, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.41676, + -0.01603, + 6.76408 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", + "path": [ + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3CTOC39K39TU5F790JR0BAAJ98Z7JZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.00921, + -0.01603, + 4.1724 + ], + "start_rotation": [ + 0, + 0.69384, + 0, + -0.72013 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.41736, + "euclidean_distance": 15.33946, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.66575, + 0.18397, + 0.12824 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "c835bc9904a846ce88571c2ee3557af0", + "path": [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3PDJHANYK7JFA9YET9JNTJU813UH6K", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.24942, + -0.01603, + 0.5588 + ], + "start_rotation": [ + 0, + 0.08858, + 0, + 0.99607 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.81095, + "euclidean_distance": 4.77965, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.2249, + -0.01603, + -2.164 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_11_newN_1", + "path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + [ + "0_edge_11_newN_1" + ], + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3STRJBFXOYUCEXAYV7UDHL2EE01KTB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.57066, + -0.01603, + -0.15256 + ], + "start_rotation": [ + 0, + 0.23656, + 0, + 0.97162 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.54636, + "euclidean_distance": 23.38557, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.70763, + 0.18397, + 0.05591 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3F6HPJW4JF39PYA216TK49NJ0NA2WV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.48417, + 0.18397, + 11.48271 + ], + "start_rotation": [ + 0, + 0.86978, + 0, + -0.49344 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.92607, + "euclidean_distance": 4.20216, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -19.71878, + 0.18397, + 7.28667 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_98_newN_3", + "path": [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + [ + "0_edge_98_newN_3" + ], + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3018Q3ZVOKTTM5OKFRCTNSY0KS4ARG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -5.9835, + -0.01603, + 0.93534 + ], + "start_rotation": [ + 0, + 0.61783, + 0, + -0.78631 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.72156, + "euclidean_distance": 6.61671, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -7.45832, + -0.01603, + -5.48229 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", + "path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TEM0PF1Q703KI7X5OKGTX5JW9OD0H", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.03451, + 0.18397, + 42.59649 + ], + "start_rotation": [ + 0, + 0.88233, + 0, + 0.47063 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.0903, + "euclidean_distance": 13.49496, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.5771, + 0.18397, + 29.3805 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_59_newN_0", + "path": [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YJ6NA41JDJJBLB9W5LHBW149WLPJS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.68889, + -0.01603, + -0.68818 + ], + "start_rotation": [ + 0, + 0.89164, + 0, + -0.45275 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.09671, + "euclidean_distance": 10.45364, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.16543, + 0.06963, + 0.0515 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", + "path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + [ + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VELCLL3GMM0PR6BSDJ6V2REDA7F1M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.16949, + -0.01603, + -1.49506 + ], + "start_rotation": [ + 0, + 0.8644, + 0, + 0.5028 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.50433, + "euclidean_distance": 1.28903, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.05497, + -0.01295, + -0.28234 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", + "path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3VJ40NV2QKQV4OVDTZM6O2JNY5XTOQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.74343, + 0.18397, + 46.32589 + ], + "start_rotation": [ + 0, + 0.84413, + 0, + -0.53614 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.6784, + "euclidean_distance": 17.78382, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.58133, + 0.18397, + 29.41747 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", + "path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + [ + "2e1d19c78bc74e1cb4a13927c3050e14" + ], + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ZSANO2JCHA0JB555WYQR3EN3DWSF1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.32029, + -0.01603, + 4.55729 + ], + "start_rotation": [ + 0, + 0.0911, + 0, + 0.99584 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 29.29083, + "euclidean_distance": 27.81672, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.99731, + 0.18397, + 27.70325 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "AVASQBFN6J692:3STRJBFXOYUCEXAYV7UDHL2EDS7TK9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.32248, + 0.18397, + 27.70726 + ], + "start_rotation": [ + 0, + 0.08207, + 0, + -0.99663 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 19.53116, + "euclidean_distance": 17.75101, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.01427, + -0.01603, + 10.0373 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3GGAI1SQEX1QI48QUXC37OUEFJCMCF", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.60251, + -0.01603, + 4.33782 + ], + "start_rotation": [ + 0, + 0.52949, + 0, + -0.84832 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.82501, + "euclidean_distance": 11.96601, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.66594, + 0.18397, + 0.21837 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3KKG4CDWKK18GGCHC92GJ4C6MY649K", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.29827, + 0.18397, + 24.27708 + ], + "start_rotation": [ + 0, + 0.9329, + 0, + -0.36014 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.66485, + "euclidean_distance": 14.34282, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.85488, + -0.01603, + 10.0113 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3FDJT1UU76BATVZ8UBCFE5W0XQT5K4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.7428, + -0.01603, + 1.4481 + ], + "start_rotation": [ + 0, + 0.49636, + 0, + 0.86812 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.25649, + "euclidean_distance": 4.99973, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.22752, + -0.01603, + -2.23739 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "0_edge_32_newN_2", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3BV8HQ2ZZY400MQ0N39VCX74PGF6AQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.73349, + 0.08557, + 13.40559 + ], + "start_rotation": [ + 0, + 0.29632, + 0, + -0.95509 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.41994, + "euclidean_distance": 25.7495, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.69866, + 0.18397, + 0.07307 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", + "path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:37XITHEISYCHFKLIZ58KTNOOKYSRC8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.48248, + -0.00137, + 14.8018 + ], + "start_rotation": [ + 0, + 0.24519, + 0, + 0.96947 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.45509, + "euclidean_distance": 13.47296, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.43541, + -0.01603, + 6.95625 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", + "path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GM6G9ZBKP074LA1GJ7TWYUI2UHMTG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.30453, + 0.18397, + 21.83978 + ], + "start_rotation": [ + 0, + 0.82284, + 0, + -0.56828 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 27.0202, + "euclidean_distance": 26.09986, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -13.95103, + 0.11242, + 0.80478 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3UNH76FOCU83L79VQPUS4FMXH0BYM1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 11.35354, + 0.18397, + 42.78304 + ], + "start_rotation": [ + 0, + 0.31498, + 0, + -0.9491 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.34824, + "euclidean_distance": 15.11942, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.5363, + 0.18397, + 29.24505 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3I3WADAZ9S7TJMKNS348LMD9HVB5OW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -5.02703, + -0.01603, + -5.32027 + ], + "start_rotation": [ + 0, + 0.99989, + 0, + 0.01479 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.18533, + "euclidean_distance": 18.60993, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.71708, + 0.18397, + 0.09138 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "daa0aa844488426a9174a7051698a417", + "path": [ + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "0_edge_5_newN_2", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_111_newN_2", + "0_edge_32_newN_2" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + [ + "1611d119a70b46869c6e12117aa71972" + ], + "0_edge_5_newN_2", + [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0" + ], + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3GNA64GUZG7W4YX37GWCAR89WRZ5Q0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.12549, + -0.01603, + -5.71581 + ], + "start_rotation": [ + 0, + 0.68184, + 0, + 0.7315 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.21404, + "euclidean_distance": 6.31074, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.19131, + 0.05848, + -0.08566 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", + "path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3R9WASFE21JXKNRJ0OSYNWBQQP0FZR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.15844, + 0.18397, + 0.03701 + ], + "start_rotation": [ + 0, + 0.97829, + 0, + -0.20722 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.23101, + "euclidean_distance": 7.40193, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.52417, + 0.04409, + 6.46351 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3XIQGXAUMEBV0ZCYHN612JIYL7E7XQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.96709, + 0.18397, + 1.85175 + ], + "start_rotation": [ + 0, + 0.89788, + 0, + 0.44024 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.61199, + "euclidean_distance": 2.74538, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.73442, + 0.18397, + 4.69628 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", + "path": [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "refined_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3EQHHY4HQUV5R93P4KR0GD47Q8ZG5X", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.30894, + 0.18397, + -1.40734 + ], + "start_rotation": [ + 0, + 0.95037, + 0, + 0.31112 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.00142, + "euclidean_distance": 9.84904, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.35634, + 0.035, + 6.36798 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "c835bc9904a846ce88571c2ee3557af0" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3GD6L00D3U06V1YSE0NJQSBNAGT1MZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.00197, + 0.18397, + 44.50694 + ], + "start_rotation": [ + 0, + 0.28884, + 0, + -0.95738 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.35193, + "euclidean_distance": 16.50507, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57539, + 0.18397, + 29.46868 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "4c8ae1df2cfe4379aba1fcd305221c4c", + "path": [ + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_0", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_0", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_0", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + [ + "aa3049db9ce543e0bb9456793ad1ea2e" + ], + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d" + ], + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Z7ISHFUH2YO58HWSAMSD4U43QSZ89", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -5.84742, + -0.01603, + 0.25023 + ], + "start_rotation": [ + 0, + 0.99478, + 0, + 0.10205 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.30671, + "euclidean_distance": 16.96605, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.68085, + 0.18397, + 0.11044 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", + "path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3NPFYT4IZE7ETSNZAQAV8WVRJ4YGXQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.57025, + 0.18397, + 17.75162 + ], + "start_rotation": [ + 0, + 0.63278, + 0, + 0.77433 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.08412, + "euclidean_distance": 18.4866, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.41164, + -0.01603, + 6.75022 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", + "path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2" + ], + "refined_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3ZSY5X72NZEIO9ILPAHBONI5984ORN", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.38256, + 0.18397, + 24.43996 + ], + "start_rotation": [ + 0, + 0.94508, + 0, + -0.32685 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 29.53663, + "euclidean_distance": 28.28222, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.0158, + 0.12665, + 0.79445 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "c835bc9904a846ce88571c2ee3557af0", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "0_edge_129_newN_0", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "c835bc9904a846ce88571c2ee3557af0", + [ + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0" + ], + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3YHH42UU5DIMIUVPI5I4CADO5EOL0V", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.1686, + -0.01603, + -0.85734 + ], + "start_rotation": [ + 0, + 0.49731, + 0, + -0.86757 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.99898, + "euclidean_distance": 14.31366, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.1917, + 0.08067, + 0.06182 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3YDTZAI2WZJQRB9M8WNN4YUNOPG41F", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.14572, + 0.18397, + 2.36999 + ], + "start_rotation": [ + 0, + 0.55857, + 0, + -0.82946 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.78142, + "euclidean_distance": 5.16512, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.78558, + 0.18397, + 0.11534 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", + "path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3G5F9DBFOR00PZDFUHRV5BA7IWDVHH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.80058, + 0.18397, + 24.49936 + ], + "start_rotation": [ + 0, + 0.17313, + 0, + -0.9849 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.69464, + "euclidean_distance": 17.66549, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.47314, + 0.18397, + 41.30719 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + [ + "3a5f7c6c250e4d56b96ff967489de836" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ND9UOO81M5FQKWABCBPJ5MS6LLLWJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.10139, + 0.18397, + 26.58008 + ], + "start_rotation": [ + 0, + 0.99842, + 0, + 0.05622 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.68274, + "euclidean_distance": 23.20182, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.43325, + -0.01603, + 6.75402 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QFUFYSY90IHHQ3UFV28T0YHPUHF4Z", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.45488, + -0.01603, + 3.88302 + ], + "start_rotation": [ + 0, + 0.40367, + 0, + 0.9149 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.17814, + "euclidean_distance": 2.98947, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -15.44136, + -0.01603, + 1.69864 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "87870f8cba81492b8ef631196a2f6560", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37U1UTWH9XPF3HV5ITSFR1S5VBJ8R4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.04879, + -0.01603, + 1.0069 + ], + "start_rotation": [ + 0, + 0.26131, + 0, + -0.96525 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.92029, + "euclidean_distance": 4.46862, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.11386, + -0.01603, + -2.04004 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3I33IC7ZWH5CIL7Z01XSMKQS80EA2R", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.29029, + -0.01603, + 2.77164 + ], + "start_rotation": [ + 0, + 0.10242, + 0, + -0.99474 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.21325, + "euclidean_distance": 2.00181, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.25644, + 0.18397, + 1.03842 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CTOC39K39TU5F790JR0BAAJ95D7J7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.10805, + 0.18397, + 28.36361 + ], + "start_rotation": [ + 0, + 0.38641, + 0, + 0.92233 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.50821, + "euclidean_distance": 13.77531, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.47383, + 0.18397, + 41.46184 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3634BBTX0QXBPX290K4CN180VI5IFH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.70411, + 0.18397, + 1.693 + ], + "start_rotation": [ + 0, + 0.99951, + 0, + 0.03123 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.19035, + "euclidean_distance": 3.0152, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.7861, + 0.18397, + 4.69231 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + [ + "0_edge_31_newN_0" + ], + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016" + ], + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33C7UALJVN1RACWOKZD0LAASRDY18A", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.73834, + 0.18397, + 43.87871 + ], + "start_rotation": [ + 0, + 0.45893, + 0, + -0.88847 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.62531, + "euclidean_distance": 16.74164, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.50607, + 0.18397, + 29.30728 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3P1L2B7AD3S7LBN8KQKF2B964STOL0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.67519, + -0.01603, + 3.80131 + ], + "start_rotation": [ + 0, + 0.67803, + 0, + -0.73504 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.75863, + "euclidean_distance": 19.48206, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.67998, + 0.18397, + 0.08835 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "97199ffe16bc45d0acb64341501e467e", + "path": [ + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A16K7X677N4WN6:34X6J5FLPV14BXCOWI06B1REETLJQT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.89257, + 0.18397, + 4.33269 + ], + "start_rotation": [ + 0, + 0.69009, + 0, + 0.72372 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.20918, + "euclidean_distance": 4.7597, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.80024, + 0.11198, + 1.78333 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "4534a8c9651e4ce891970e43e2724dfe", + "path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "0_edge_84_newN_4", + "0_edge_129_newN_0", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TUI152ZZDQXGGWK6TU071VSKHX1QT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.15013, + -0.01603, + 0.85777 + ], + "start_rotation": [ + 0, + 0.19608, + 0, + -0.98059 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.81104, + "euclidean_distance": 16.67788, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.7676, + 0.18397, + 0.08378 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", + "path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EO896NRAYYH3D4GDMU1G621Y0RJTE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.97178, + -0.00805, + -4.99956 + ], + "start_rotation": [ + 0, + 0.22324, + 0, + 0.97476 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.00212, + "euclidean_distance": 4.101, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.14083, + 0.18397, + -9.03559 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3C8HJ7UOP9X3QXJ0MBWBIMVZNSJZMT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.24039, + -0.01603, + 13.27883 + ], + "start_rotation": [ + 0, + 0.98844, + 0, + 0.15161 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.89568, + "euclidean_distance": 3.68632, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.84671, + -0.01603, + 9.99879 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", + "path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:32VNZTT0A97EKG836Q22APC0SM14R0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.05003, + 0.18397, + 42.83975 + ], + "start_rotation": [ + 0, + 0.84503, + 0, + -0.53472 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.09793, + "euclidean_distance": 13.94241, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.55262, + 0.18397, + 29.41358 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "63b2f39fcc844216ada0b28c0873ae61", + "path": [ + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "0_edge_87_newN_1", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "0_edge_87_newN_1", + [ + "0_edge_73_newN_0" + ], + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d" + ], + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3IOEN3P9S9M46YD0RKG21WE1LI716N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.27005, + 0.18397, + 27.4092 + ], + "start_rotation": [ + 0, + 0.73226, + 0, + -0.68102 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.86756, + "euclidean_distance": 14.57088, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.36516, + 0.18397, + 41.48132 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:31LVTDXBL9DAIOFOCI1JW6EBE99RLV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.30102, + 0.54461, + -6.86263 + ], + "start_rotation": [ + 0, + 0.49572, + 0, + 0.86849 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.04494, + "euclidean_distance": 14.34953, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.72108, + 0.18397, + 0.06828 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_1_newN_0", + "path": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3KB8R4ZV1GA7GPKY5UIDJZ4Z01CGBJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.40888, + 0.18397, + 24.85882 + ], + "start_rotation": [ + 0, + 0.86058, + 0, + 0.50932 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.62747, + "euclidean_distance": 23.92128, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.51192, + -0.01603, + 6.89965 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IXQG4FA2V1S1FXQROC3RIICWNHB9L", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.86327, + 0.18397, + 5.6654 + ], + "start_rotation": [ + 0, + 0.21805, + 0, + -0.97594 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.38891, + "euclidean_distance": 6.31268, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.73018, + 0.10398, + 1.90825 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_111_newN_2", + "path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3RKNTXVS3O1MLZMM4FGGFZNQSHP4A2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.85792, + 0.18397, + 41.84768 + ], + "start_rotation": [ + 0, + 0.8532, + 0, + -0.52158 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.62441, + "euclidean_distance": 13.27215, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.5489, + 0.18397, + 29.30246 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3UOUJI6MTFHXYAOUUVZCCBWITNLUXZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.62423, + -0.01603, + 4.34998 + ], + "start_rotation": [ + 0, + 0.46178, + 0, + -0.88699 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.80158, + "euclidean_distance": 16.7236, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.75846, + 0.18397, + 0.11989 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "c835bc9904a846ce88571c2ee3557af0", + "path": [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3AZHRG4CU6N52Q50CZE4GOJ75UH03K", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.05274, + -0.01603, + 9.42514 + ], + "start_rotation": [ + 0, + 0.87617, + 0, + -0.482 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.09494, + "euclidean_distance": 9.68057, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.3986, + -0.01603, + 6.8047 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", + "path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3A4TN5196ML4QQ7F30WQFJMIXPJHCQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.00433, + -0.01603, + 1.64093 + ], + "start_rotation": [ + 0, + 0.97209, + 0, + 0.23459 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.33702, + "euclidean_distance": 26.38491, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.18495, + 0.18397, + 27.6071 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A16K7X677N4WN6:35DR22AR5FNDZGBBFB3BP26IF4VX3B", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.68481, + -0.01603, + 4.52376 + ], + "start_rotation": [ + 0, + 0.3048, + 0, + -0.95242 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.75146, + "euclidean_distance": 10.12067, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.76729, + 0.18397, + 0.12605 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3QL2OFSM98LW0MTQ6YR3K3JEJ08NCJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.3747, + 0.25842, + -3.04217 + ], + "start_rotation": [ + 0, + 0.129, + 0, + -0.99164 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.18526, + "euclidean_distance": 9.17889, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -15.63503, + 0.03894, + 5.81797 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3HUTX6F6VWQ1KP10AK2ANFAXXMRO2N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.31817, + 0.18397, + -0.80148 + ], + "start_rotation": [ + 0, + 0.98133, + 0, + 0.19234 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.04964, + "euclidean_distance": 3.62254, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.77076, + 0.18397, + 0.09092 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RSDURM96CP59JHI9R69R7HO91XYEW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -5.71129, + 0.08643, + 8.33732 + ], + "start_rotation": [ + 0, + 0.36272, + 0, + 0.9319 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.69463, + "euclidean_distance": 1.10318, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.7072, + -0.01603, + 8.97614 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "37f62db110c94798b2eec3c180d2fa39", + "path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CPLWGV3MQ2U2OMNUEHCIDI6DDX9NC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.27867, + -0.01603, + -3.26098 + ], + "start_rotation": [ + 0, + 0.76302, + 0, + -0.64638 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.72314, + "euclidean_distance": 5.86228, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.11022, + 0.18397, + -8.90609 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37UEWGM5HVBXSHBKJ8J0CR5XG081RX", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -4.41307, + -0.01603, + 8.41245 + ], + "start_rotation": [ + 0, + 0.88284, + 0, + -0.46967 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.42574, + "euclidean_distance": 8.12764, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.46788, + -0.01603, + 6.80122 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "37f62db110c94798b2eec3c180d2fa39", + "path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3KIBXJ1WD7XW155QZQ8ENBWREGPKO5", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -7.73317, + -0.01603, + -6.39877 + ], + "start_rotation": [ + 0, + 0.21277, + 0, + -0.9771 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.37291, + "euclidean_distance": 8.95649, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.23773, + 0.05769, + -0.20307 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:33JKGHPFYEX9985HJNLHNZOQEKJMNK", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 10.4861, + 0.18397, + 43.33942 + ], + "start_rotation": [ + 0, + 0.77442, + 0, + 0.63268 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.39556, + "euclidean_distance": 15.25421, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.52661, + 0.18397, + 29.39175 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AVASQBFN6J692:3SNLUL3WO6Q2YG75GCWO1H1VMANLU8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -4.23497, + -0.01603, + 1.9123 + ], + "start_rotation": [ + 0, + 0.86383, + 0, + -0.50378 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.88092, + "euclidean_distance": 8.12976, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -7.63437, + -0.01603, + -5.57266 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37Q970SNZGB9TWBXYXJ521AT2521S2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.16436, + 0.18397, + 44.86461 + ], + "start_rotation": [ + 0, + 0.46321, + 0, + 0.88625 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.15631, + "euclidean_distance": 16.12667, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.46631, + 0.18397, + 29.31126 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_87_newN_2", + "path": [ + "0_edge_87_newN_2", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_87_newN_2", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_87_newN_2", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2" + ], + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32EYX73OY2CD1E2ILWTKNTAUS2KURF", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.53153, + 0.18397, + -0.48502 + ], + "start_rotation": [ + 0, + 0.92962, + 0, + -0.36852 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.95854, + "euclidean_distance": 5.12147, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.94098, + 0.18397, + 4.66661 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:34J10VATJH18GMSIE0F6Z0CE2L8IQ7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.17805, + -0.01603, + -4.48664 + ], + "start_rotation": [ + 0, + 0.93062, + 0, + -0.36598 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.12294, + "euclidean_distance": 2.00402, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.57678, + 0.18397, + -6.44548 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37KGEN7NJ5TFXWE7RIQ18SNGI06PPH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.39134, + -0.01603, + 0.5285 + ], + "start_rotation": [ + 0, + 0.95941, + 0, + -0.28202 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.68996, + "euclidean_distance": 4.647, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.20555, + -0.01603, + -2.28857 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_11_newN_1", + "path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "0_edge_32_newN_2", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ] + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3TR2532VIRXB1FT4H9M85WANFYG6J3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.19788, + 0.18397, + 24.40374 + ], + "start_rotation": [ + 0, + 0.54382, + 0, + -0.8392 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.68127, + "euclidean_distance": 14.86185, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.84815, + -0.01603, + 9.92666 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d" + ] + }, + { + "episode_id": "A3V2XCDF45VN9X:34X6J5FLPV14BXCOWI06B1REEXCQJZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.14782, + 0.18397, + 27.5409 + ], + "start_rotation": [ + 0, + 0.92375, + 0, + -0.38299 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.32477, + "euclidean_distance": 13.86048, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.93089, + 0.18397, + 40.93056 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3WZ36BJEV5JBLU64PUHKIIJOR28BTQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.21286, + 0.18397, + 24.78574 + ], + "start_rotation": [ + 0, + 0.49789, + 0, + 0.86724 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.81075, + "euclidean_distance": 17.86166, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.45195, + 0.18397, + 41.35841 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d" + ], + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A3V2XCDF45VN9X:3U5JL4WY5MCYHCUFFP8UZ7YOT23X44", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.85055, + -0.01603, + 1.39589 + ], + "start_rotation": [ + 0, + 0.86568, + 0, + -0.50059 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.281, + "euclidean_distance": 5.94882, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.20312, + -0.01603, + -3.34606 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33LK57MYLV86OSW568SXUVU5FJBSZC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.20101, + 0.18397, + 0.52777 + ], + "start_rotation": [ + 0, + 0.78564, + 0, + -0.61868 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.8968, + "euclidean_distance": 4.08018, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.86702, + 0.18397, + 4.61565 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "refined_path": [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KV0LJBBH4OUO6X9CU2YWJT0FG9RMC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.22952, + -0.01603, + 6.09653 + ], + "start_rotation": [ + 0, + 0.66057, + 0, + -0.75077 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.36531, + "euclidean_distance": 1.23413, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -13.08891, + -0.01603, + 6.67252 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "deb943d89d2a44ce8850edec3c7308f9", + "path": [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3MD9PLUKKKH98F40YCBBV1KZSJ5NZV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.47241, + -0.01603, + 1.67129 + ], + "start_rotation": [ + 0, + 0.13748, + 0, + -0.9905 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.65083, + "euclidean_distance": 1.65083, + "closest_goal_object_id": 46, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -8.97642, + -0.01603, + 0.90605 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3VZLGYJEYNDEK9I40IYKT3BXUW4ZXE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.54448, + 9e-05, + -1.99385 + ], + "start_rotation": [ + 0, + 0.62481, + 0, + -0.78077 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.21804, + "euclidean_distance": 5.47467, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.11233, + -0.01603, + -4.62613 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + [ + "f40bd40958c84aff92ba792033933f3d" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3IJXV6UZ1ZM8SN7IRF464QMJY75RIC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.1329, + -0.01603, + -0.64594 + ], + "start_rotation": [ + 0, + 0.97715, + 0, + 0.21254 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.30808, + "euclidean_distance": 4.73638, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.15495, + -0.01603, + -4.87816 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:39L1G8WVWSU59FQI8II4UT2HAOD31K", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.11125, + 0.18397, + 25.38496 + ], + "start_rotation": [ + 0, + 0.29367, + 0, + 0.95591 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.91602, + "euclidean_distance": 15.61835, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.88049, + -0.01603, + 10.027 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36DSNE9QZ711QLZ8H582MWWEZS1OJO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.13014, + -0.01603, + -0.57604 + ], + "start_rotation": [ + 0, + 0.88447, + 0, + 0.4666 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.46084, + "euclidean_distance": 11.00393, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.1779, + 0.08084, + 0.0963 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", + "path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3VP0C6EFSIZ12NZPK6Z0LO24IPJ6M8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.43171, + 0.18397, + -1.7487 + ], + "start_rotation": [ + 0, + 0.84614, + 0, + -0.53296 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.64356, + "euclidean_distance": 7.0599, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -21.11902, + 0.18397, + 5.39094 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:34Q075JO1ZG9SNRLPV0LSV4A7CT01M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.63157, + 0.18397, + 5.29549 + ], + "start_rotation": [ + 0, + 0.54741, + 0, + -0.83686 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.96744, + "euclidean_distance": 4.45528, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.31724, + 0.03543, + 6.28097 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_32_newN_2", + "path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2" + ], + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + [ + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3IHR8NYAM94T83SOTYYD5UCLR04P4C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.44968, + -0.01603, + -1.0165 + ], + "start_rotation": [ + 0, + 0.87423, + 0, + 0.48552 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.91689, + "euclidean_distance": 10.72028, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.00703, + 0.02742, + 0.08887 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", + "path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3AAJC4I4FIVDPPDFJEJJ2U3IJYPZJQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 9.49219, + 0.18397, + 44.33563 + ], + "start_rotation": [ + 0, + 0.00773, + 0, + -0.99997 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.44293, + "euclidean_distance": 15.83144, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.61734, + 0.18397, + 29.43023 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_84_newN_4", + "path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3DIP6YHAPEVQUDQ0WN8FSUTMFEC8ET", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.17091, + -0.01603, + -5.46236 + ], + "start_rotation": [ + 0, + 0.11474, + 0, + 0.9934 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.65013, + "euclidean_distance": 7.27721, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.12004, + 0.01325, + -0.21584 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_1_newN_0", + "path": [ + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + [ + "0_edge_1_newN_0" + ], + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:323Q6SJS8KJBT2RPU2MRNP7LU33HFV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.36514, + -0.01603, + 10.62573 + ], + "start_rotation": [ + 0, + 0.91284, + 0, + -0.40832 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 13.14723, + "euclidean_distance": 11.64467, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.34486, + -0.01603, + 6.73081 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", + "path": [ + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "0_edge_1_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + [ + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b" + ], + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + [ + "1611d119a70b46869c6e12117aa71972" + ], + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3EQHHY4HQUV5R93P4KR0GD47Q70G5W", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.51033, + -0.01603, + 8.32429 + ], + "start_rotation": [ + 0, + 0.87269, + 0, + 0.48828 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.85916, + "euclidean_distance": 9.99078, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.452, + -0.01603, + 6.75484 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", + "path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QRYMNZ7F0KDM3V1SKMT9DJI7KUTNQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.64672, + 0.18397, + 4.60125 + ], + "start_rotation": [ + 0, + 0.90391, + 0, + 0.42773 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.06954, + "euclidean_distance": 2.85779, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.77583, + 0.10919, + 1.84047 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", + "path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3YMU66OBIPBH72NK5MS95A7XVH1HGQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.9789, + 0.0478, + 14.24808 + ], + "start_rotation": [ + 0, + 0.48203, + 0, + -0.87616 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.17503, + "euclidean_distance": 13.5771, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.47665, + -0.01603, + 6.7968 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", + "path": [ + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021" + ], + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3X4JMASXCOCA5L9DRSTAY7HJTO30BO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -16.23894, + 0.1507, + 0.3643 + ], + "start_rotation": [ + 0, + 0.59845, + 0, + 0.80116 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.82783, + "euclidean_distance": 4.54228, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.90362, + 0.18397, + 4.63151 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "14c540221298447da11bf71477d7fbf1", + "path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + [ + "c0a8647aead54f7295512181bac0440e" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3HL8HNGX474IEW96WQYZA89XBMBF9B", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.12614, + -0.01603, + -4.73031 + ], + "start_rotation": [ + 0, + 0.8304, + 0, + -0.55717 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.38682, + "euclidean_distance": 4.76077, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.09276, + 0.18397, + -9.0456 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + [ + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3G2UL9A02FHIHKS2G0XB265EN1767I", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.83783, + -0.01603, + -4.60638 + ], + "start_rotation": [ + 0, + 0.80688, + 0, + -0.59071 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.49625, + "euclidean_distance": 2.88828, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.58995, + 0.09055, + -6.23744 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_8_newN_2", + "path": [ + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ] + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3V5Q80FXIZUCY08ERMIIZCCM2QP23Q", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.45582, + -0.01603, + -4.74719 + ], + "start_rotation": [ + 0, + 0.14018, + 0, + 0.99013 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.45463, + "euclidean_distance": 5.30736, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.22507, + 0.05618, + -0.18261 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", + "path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + [ + "d260eaeca5694719868f318ab468be27" + ], + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + [ + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3COPXFW7XDFEM5HREQLTCB1HOLLPKR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.92071, + -0.01603, + -0.78361 + ], + "start_rotation": [ + 0, + 0.82329, + 0, + -0.56762 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.03258, + "euclidean_distance": 13.22188, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.08239, + 0.04445, + 0.08378 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3018Q3ZVOKTTM5OKFRCTNSY0KWMAR6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.18512, + -0.01603, + -1.64701 + ], + "start_rotation": [ + 0, + 0.33897, + 0, + -0.9408 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.49051, + "euclidean_distance": 1.43077, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.30241, + 0.07817, + -2.61575 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", + "path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37FMASSAYEULCGQTVIIG4BHFFE0IB9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.12716, + 0.18397, + -0.83501 + ], + "start_rotation": [ + 0, + 0.27297, + 0, + 0.96202 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.12423, + "euclidean_distance": 5.95286, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.78057, + 0.10974, + 1.84834 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3MD9PLUKKKH98F40YCBBV1KZSJ0ZN2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.94379, + 0.18397, + 23.67718 + ], + "start_rotation": [ + 0, + 0.29632, + 0, + 0.95509 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.54307, + "euclidean_distance": 18.95627, + "closest_goal_object_id": 103, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.16207, + -0.01603, + 4.89693 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3YHH42UU5DIMIUVPI5I4CADO6QO0LZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.48196, + 0.22614, + -2.57867 + ], + "start_rotation": [ + 0, + 0.79164, + 0, + 0.61099 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.10526, + "euclidean_distance": 5.99057, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.81024, + 0.18397, + 0.12356 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + [ + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A101U3FTZYY87V:35DR22AR5FNDZGBBFB3BP26IFY8X3C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.56115, + -0.01603, + -1.50133 + ], + "start_rotation": [ + 0, + 0.99952, + 0, + 0.03102 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.5033, + "euclidean_distance": 1.44619, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.10788, + 0.00753, + -0.22477 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", + "path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:30X31N5D65T5NKOXUGCYD23W6UHSAG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.20037, + 0.18397, + 22.83359 + ], + "start_rotation": [ + 0, + 0.52214, + 0, + 0.85286 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 28.27997, + "euclidean_distance": 27.43128, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.1435, + 0.17005, + 0.77606 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3GU1KF0O4K4DT2DX8D80D8IR2Z0PBC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.48467, + 0.18397, + 24.52963 + ], + "start_rotation": [ + 0, + 0.97548, + 0, + -0.22007 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.2676, + "euclidean_distance": 17.84861, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.33229, + 0.18397, + 41.41082 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_59_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PH3VY7DJN0ZV9DEQD2YRKXQLSSWZ8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.55372, + 0.18397, + 3.55723 + ], + "start_rotation": [ + 0, + 0.51943, + 0, + -0.85451 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.03649, + "euclidean_distance": 3.21319, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.76883, + 0.10839, + 1.90676 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_136_newN_2", + "path": [ + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FE2ERCCZZBXCW26CIDMJSIQ8VTPOJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.57138, + -0.01603, + 5.08607 + ], + "start_rotation": [ + 0, + 0.72866, + 0, + 0.68487 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.42762, + "euclidean_distance": 26.96339, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.99737, + 0.18397, + 27.73292 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3LOZAJ85YFGOEYFSBBP66S1Q9PJ2XR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.65004, + 0.18397, + 26.15637 + ], + "start_rotation": [ + 0, + 0.78994, + 0, + -0.61319 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.88374, + "euclidean_distance": 16.04034, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.42787, + 0.18397, + 41.37741 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3HFNH7HEMJHUKVMNOCF3EOZYN9JGQI", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.27434, + -0.01603, + 4.53269 + ], + "start_rotation": [ + 0, + 0.87663, + 0, + 0.48116 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.15575, + "euclidean_distance": 14.22916, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.73864, + 0.18397, + 0.06898 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HHRAGRYXA8CK9MZVTHPX2IB3P5O9D", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.025, + 0.18397, + 10.59766 + ], + "start_rotation": [ + 0, + 0.35362, + 0, + -0.93539 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.62531, + "euclidean_distance": 5.71783, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.52447, + 0.15096, + 7.12884 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_98_newN_2", + "path": [ + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WI0P0II63VRKCRWZ13VDT66610RDB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.90848, + 0.18397, + 44.87143 + ], + "start_rotation": [ + 0, + 0.79589, + 0, + -0.60544 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.2273, + "euclidean_distance": 16.45192, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54974, + 0.18397, + 29.47418 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", + "path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3R8YZBNQ9JLBR2BMV9B98BM5N2TQ79", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -16.97117, + 0.19667, + -2.90732 + ], + "start_rotation": [ + 0, + 0.9318, + 0, + 0.36297 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.6276, + "euclidean_distance": 9.43325, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.53962, + 0.04512, + 6.46751 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3R6P78PK7ME7CBEF5G9YJTAL68AGT7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.81378, + 0.18397, + 25.03612 + ], + "start_rotation": [ + 0, + 0.4459, + 0, + -0.89509 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.37077, + "euclidean_distance": 21.51613, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.29332, + -0.01603, + 6.78137 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WQQ9FUS6CXSNAEGMW6PRMN1CHZB8W", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.81032, + 0.18397, + 0.65753 + ], + "start_rotation": [ + 0, + 0.7831, + 0, + -0.62189 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.70254, + "euclidean_distance": 5.13237, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75727, + 0.10707, + 1.76874 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", + "path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37UEWGM5HVBXSHBKJ8J0CR5XH5WR1M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.58536, + 0.39749, + -2.88874 + ], + "start_rotation": [ + 0, + 0.69766, + 0, + -0.71643 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.58577, + "euclidean_distance": 7.67749, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.86902, + 0.18397, + 4.65692 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3QY7M81QH9PPGZDRI4RCCPAWPZPK76", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.23073, + 0.18397, + 8.60845 + ], + "start_rotation": [ + 0, + 0.99187, + 0, + -0.12725 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.4825, + "euclidean_distance": 2.28858, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.54815, + 0.16428, + 7.17066 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "c0a8647aead54f7295512181bac0440e", + "path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3Z7VU45IP0K6U8XBTPDDYU7WPKFZ1I", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.74089, + 0.18397, + 42.40647 + ], + "start_rotation": [ + 0, + 0.99891, + 0, + -0.04666 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.13718, + "euclidean_distance": 13.76394, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.42321, + 0.18397, + 29.26122 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:30BUDKLTXFY77V7YYP1CGAJVEWB5E5", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.63446, + 0.18397, + 23.77193 + ], + "start_rotation": [ + 0, + 0.39036, + 0, + 0.92066 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.74778, + "euclidean_distance": 23.27164, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.44801, + -0.01603, + 6.92741 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3K2755HG5U6UHMMN8631W4SN2CKDFU", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -7.50635, + -0.01603, + 2.92536 + ], + "start_rotation": [ + 0, + 0.36733, + 0, + 0.93009 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.01398, + "euclidean_distance": 15.55558, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.79746, + 0.18397, + 0.08052 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3EA3QWIZ4KYL82KAV49145N1LP7TIP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.25631, + 0.18397, + 26.89081 + ], + "start_rotation": [ + 0, + 0.8438, + 0, + -0.53666 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.17432, + "euclidean_distance": 14.24243, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.91385, + 0.18397, + 40.82479 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3A4TN5196ML4QQ7F30WQFJMIXQNHCW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.33754, + -0.01603, + -3.56716 + ], + "start_rotation": [ + 0, + 0.91161, + 0, + 0.41105 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.65171, + "euclidean_distance": 2.02913, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -7.5066, + -0.01603, + -5.54619 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "9777c924f783428ca832493cef2b5259", + "path": [ + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27" + ], + "refined_path": [ + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3SITXWYCNXCI2BFOU4IH7L4U4Y0BXD", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.66567, + -0.01603, + 0.79877 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + 0.00828 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.41391, + "euclidean_distance": 24.48696, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.78836, + 0.18397, + 0.15106 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3TXD01ZLD6K6080KAKX7F0ZK0NK4UO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.16322, + -0.00517, + -1.80903 + ], + "start_rotation": [ + 0, + 0.83234, + 0, + -0.55426 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.65011, + "euclidean_distance": 3.37871, + "closest_goal_object_id": 103, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 1.61734, + -0.01603, + 1.46906 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_59_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d" + ], + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:36V4Q8R5ZM3UC5I9ZFDYRTJVIPSQMK", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.51795, + 0.18397, + 42.624 + ], + "start_rotation": [ + 0, + 0.95443, + 0, + 0.29844 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.51948, + "euclidean_distance": 15.54776, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.60744, + 0.18397, + 29.39722 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "deb943d89d2a44ce8850edec3c7308f9", + "c835bc9904a846ce88571c2ee3557af0", + "14c540221298447da11bf71477d7fbf1", + "0_edge_3_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "171278a4cf64429d9ab2df21adcc60d8" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "c835bc9904a846ce88571c2ee3557af0", + [ + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "0_edge_3_newN_0", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e" + ], + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3DQQ64TANIO5H5B8344W0MVCC0BPWL", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.43214, + 0.18397, + 26.38098 + ], + "start_rotation": [ + 0, + 0.96502, + 0, + -0.26217 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.65639, + "euclidean_distance": 16.7295, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.94594, + -0.01603, + 9.9367 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + [ + "171278a4cf64429d9ab2df21adcc60d8" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3YGXWBAF72KAEEJKOTC7LUDESJ5C45", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 6.42522, + 0.18397, + 46.04047 + ], + "start_rotation": [ + 0, + 0.94228, + 0, + 0.33483 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.72283, + "euclidean_distance": 1.53714, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 7.40267, + 0.18397, + 44.83876 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0db658dc49514ca18be7b44ceb363849", + "path": [ + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1" + ], + "refined_path": [ + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3V0Z7YWSI03WA9AXBWOOI745TCV2V4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.47234, + -0.01603, + 5.04661 + ], + "start_rotation": [ + 0, + 0.52576, + 0, + -0.85064 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.58045, + "euclidean_distance": 2.49401, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.54692, + -0.01603, + 6.75667 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:38F71OA9GVZXLGS0LZ24FUFHBPWMF3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.31776, + 0.18397, + 25.49517 + ], + "start_rotation": [ + 0, + 0.84423, + 0, + 0.53598 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.76755, + "euclidean_distance": 15.89126, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.05992, + -0.01603, + 9.95861 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "44d33d6e1d08491bbbbefbbdf4153521", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9" + ], + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3TPWUS5F8B4MNG24YZIQGMW5CCHWCO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.89901, + 0.32391, + -3.16414 + ], + "start_rotation": [ + 0, + 0.82771, + 0, + 0.56115 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.70019, + "euclidean_distance": 7.82683, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.79565, + 0.18397, + 4.64479 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IX2EGZR7DM4NYRO9XP6GR1JAH4RJN", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.60248, + 0.18397, + 25.11922 + ], + "start_rotation": [ + 0, + 0.46987, + 0, + -0.88274 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.4848, + "euclidean_distance": 15.14834, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.82081, + -0.01603, + 10.03158 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3IOEN3P9S9M46YD0RKG21WE1KDL16Q", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 9.73746, + 0.18397, + 43.29828 + ], + "start_rotation": [ + 0, + 0.70556, + 0, + 0.70865 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.66103, + "euclidean_distance": 14.93615, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.49464, + 0.18397, + 29.22976 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ZQIG0FLQGJIMP84PGDV6EKUXKWVWN", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.43893, + 0.18397, + -1.88517 + ], + "start_rotation": [ + 0, + 0.77914, + 0, + 0.62685 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.5032, + "euclidean_distance": 8.05986, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -15.52212, + 0.03701, + 5.80445 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:31LM9EDVONVJ80ZWGQ8P77W99ITJN1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.15695, + -0.01603, + -2.098 + ], + "start_rotation": [ + 0, + 0.99484, + 0, + -0.10148 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.63759, + "euclidean_distance": 17.40697, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.19908, + 0.08291, + 0.05898 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + [ + "f40bd40958c84aff92ba792033933f3d" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3M1CVSFP628TA49K2CNTI2OVOA0QA1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.69131, + 0.08611, + -5.66033 + ], + "start_rotation": [ + 0, + 0.62664, + 0, + -0.77931 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.34224, + "euclidean_distance": 1.14518, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.61238, + 0.14049, + -6.34603 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R08VXYT7EYGBZ787IAF004RC577WW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.06901, + 0.18397, + 41.41499 + ], + "start_rotation": [ + 0, + 0.11349, + 0, + -0.99354 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.48555, + "euclidean_distance": 14.28302, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.52631, + 0.18397, + 29.4819 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37ZHEEHM6YPJK15KXYZDV3TUED873N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.03662, + 0.18397, + 43.87628 + ], + "start_rotation": [ + 0, + 0.94214, + 0, + 0.33523 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.92376, + "euclidean_distance": 16.40417, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57615, + 0.18397, + 29.43655 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3S4AW7T80DL3HIDQ1656OD31NX94LE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.40756, + 0.18397, + 27.47105 + ], + "start_rotation": [ + 0, + 0.97169, + 0, + -0.23627 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.86448, + "euclidean_distance": 2.54051, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.93968, + 0.18397, + 27.68059 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + [ + "9baaef79e7484c8e9929f78df52fc3df" + ], + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + [ + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3GNA64GUZG7W4YX37GWCAR89XZ4Q57", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 14.50014, + 0.18397, + 42.98717 + ], + "start_rotation": [ + 0, + 0.9607, + 0, + 0.27758 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 22.60991, + "euclidean_distance": 16.95197, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.55004, + 0.18397, + 29.24168 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_22_newN_1", + "0_edge_59_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + [ + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3JJVG1YBED090SVEOYZMF2DABYCB5N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.73125, + 0.18397, + 44.80823 + ], + "start_rotation": [ + 0, + 0.73323, + 0, + 0.67998 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.89099, + "euclidean_distance": 16.06177, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.48089, + 0.18397, + 29.32959 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_84_newN_4", + "path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + [ + "0_edge_84_newN_4" + ], + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PMBY0YE296BBKPW5O8Y22OUFGY9CO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.96083, + 0.18397, + 0.19544 + ], + "start_rotation": [ + 0, + 0.86112, + 0, + -0.50839 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.74865, + "euclidean_distance": 4.86378, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.73413, + 0.18397, + 4.69162 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:32RIADZISU7QLV8GLF270ZHWEKKS44", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.44238, + -0.01603, + -3.35477 + ], + "start_rotation": [ + 0, + 0.67373, + 0, + -0.73897 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.87951, + "euclidean_distance": 3.6075, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.08029, + 0.00504, + -0.17472 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_3_newN_1", + "path": [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NS0A6KXC6B3YNNEB8YG5HB2SBYZGN", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.07488, + 0.18397, + -0.39702 + ], + "start_rotation": [ + 0, + 0.09, + 0, + -0.99594 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.00195, + "euclidean_distance": 5.77505, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -21.06277, + 0.18397, + 5.20529 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "0_edge_111_newN_2" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_111_newN_2" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3XIQGXAUMEBV0ZCYHN612JIYL8L7XZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.67442, + -0.01603, + 4.87136 + ], + "start_rotation": [ + 0, + 0.61194, + 0, + 0.7909 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.58199, + "euclidean_distance": 27.1996, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.11842, + 0.18397, + 27.54261 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "35e62dc086ba4cd598a30fd3ec926a18", + "c0a8647aead54f7295512181bac0440e", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + [ + "a66ff11e61dd489994fba110d257025e" + ], + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + [ + "9baaef79e7484c8e9929f78df52fc3df" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3BEFOD78W8WNN0VB1I6LOQIQN6E4M3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.17569, + 0.18397, + 7.50057 + ], + "start_rotation": [ + 0, + 0.69724, + 0, + -0.71683 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.46041, + "euclidean_distance": 8.19594, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.63331, + 0.18397, + 0.19534 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "c0a8647aead54f7295512181bac0440e", + "path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3GA6AFUKOQRGDQBWA7LPMGIORCJ3HR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.76593, + -0.01603, + -4.15168 + ], + "start_rotation": [ + 0, + 0.74644, + 0, + -0.66545 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.7041, + "euclidean_distance": 4.88989, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.16272, + 0.18397, + -8.94052 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NXNZ5RS1C05Z3U0E70NMGWGD0T794", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 11.90725, + 0.18397, + 43.6479 + ], + "start_rotation": [ + 0, + 0.64139, + 0, + 0.76722 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.79331, + "euclidean_distance": 16.14186, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57221, + 0.18397, + 29.26272 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3EG49X351WFCWZYTYD19W5I2Q15X62", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.04659, + -0.01603, + 3.75418 + ], + "start_rotation": [ + 0, + 0.69544, + 0, + -0.71858 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.3915, + "euclidean_distance": 17.14848, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.74082, + 0.18397, + 0.11944 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_129_newN_0", + "path": [ + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3WOKGM4L73JUOFYMVXYW4RHI1QV0O8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.27935, + 0.18397, + 26.92812 + ], + "start_rotation": [ + 0, + 0.10942, + 0, + 0.994 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.41539, + "euclidean_distance": 17.10977, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.98844, + -0.01603, + 9.96302 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3DUZQ9U6SORPF8RV5B3U9PH9R6OSVR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.14839, + 0.18397, + 27.17855 + ], + "start_rotation": [ + 0, + 0.14945, + 0, + 0.98877 + ], + "object_category": "table", + "info": { + "geodesic_distance": 21.26448, + "euclidean_distance": 16.07633, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.46954, + 0.18397, + 41.43417 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32KTQ2V7RFIOK61NID2C5YT68SQ9MP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.92507, + 0.03046, + -5.29336 + ], + "start_rotation": [ + 0, + 0.29331, + 0, + 0.95602 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.44914, + "euclidean_distance": 22.55553, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.75483, + 0.18397, + 0.13163 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A302KOFOYLD89A:39U1BHVTDNU6IZ2RA12E0ZLC23VT32", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.65359, + -0.01603, + -5.01516 + ], + "start_rotation": [ + 0, + 0.38831, + 0, + -0.92153 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.49248, + "euclidean_distance": 5.97726, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.26491, + 0.08138, + -0.11036 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", + "path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "0_edge_2_newN_1", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + [ + "d260eaeca5694719868f318ab468be27" + ], + "0_edge_2_newN_1", + [ + "d260eaeca5694719868f318ab468be27" + ], + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3IHR8NYAM94T83SOTYYD5UCLSBP4PZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.83283, + -0.01603, + -1.78989 + ], + "start_rotation": [ + 0, + 0.82458, + 0, + 0.56575 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.5996, + "euclidean_distance": 16.09842, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.68627, + 0.18397, + 0.17879 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f530764ebfa140c7ad68d1cae7e3f8d9", + "path": [ + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3KWTYT08726LD1HQFBOGT59FMMW5LX", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.47088, + -0.01603, + 0.75689 + ], + "start_rotation": [ + 0, + 0.85005, + 0, + -0.5267 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.71461, + "euclidean_distance": 5.64729, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.20739, + 0.18397, + 0.86384 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_11_newN_1", + "path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3ND9UOO81M5FQKWABCBPJ5MS6O6WLL", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.82121, + -0.01603, + 0.95578 + ], + "start_rotation": [ + 0, + 0.76184, + 0, + -0.64776 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.9593, + "euclidean_distance": 21.00702, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.67536, + 0.18397, + 0.19744 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "44d33d6e1d08491bbbbefbbdf4153521", + "path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3DR23U6WE7H9SXIOZLJAJQP9TVITEW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.16329, + 0.18397, + 28.15876 + ], + "start_rotation": [ + 0, + 0.99952, + 0, + -0.03092 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.42808, + "euclidean_distance": 14.34151, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.48796, + 0.18397, + 41.39243 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + [ + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3BV8HQ2ZZY400MQ0N39VCX74PCP6AS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.57714, + 0.18397, + 25.85725 + ], + "start_rotation": [ + 0, + 0.0638, + 0, + -0.99796 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.89865, + "euclidean_distance": 16.30256, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.37416, + 0.18397, + 41.40193 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3H7Z272LX9AP6BZ9ZQXURBEWEXQPLJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -5.04331, + -0.01603, + 1.84079 + ], + "start_rotation": [ + 0, + 0.7887, + 0, + -0.61478 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.62492, + "euclidean_distance": 17.84958, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.81307, + 0.18397, + 0.09554 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37Q970SNZGB9TWBXYXJ521AT2061SW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.24206, + -0.01603, + -5.85519 + ], + "start_rotation": [ + 0, + 0.81477, + 0, + -0.57978 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.37273, + "euclidean_distance": 6.37776, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.12795, + 0.02837, + -0.13387 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", + "path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9" + ], + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3WR9XG3T65E42XOOXC4W58L0RBI74H", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.9498, + 0.18397, + 43.77259 + ], + "start_rotation": [ + 0, + 0.99523, + 0, + -0.09756 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.83537, + "euclidean_distance": 15.1291, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54991, + 0.18397, + 29.39735 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A2KW17G25L25R8:3SPJ0334236DKZ3ANSH0ONUGD5RYJ6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.55075, + 0.18397, + 24.86073 + ], + "start_rotation": [ + 0, + 0.97615, + 0, + 0.21711 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.25763, + "euclidean_distance": 14.89591, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.0378, + -0.01495, + 10.03894 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3VELCLL3GMM0PR6BSDJ6V2REDFMF1B", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.94155, + -0.01603, + -0.06479 + ], + "start_rotation": [ + 0, + 0.40071, + 0, + -0.9162 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.06217, + "euclidean_distance": 21.8725, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.80233, + 0.18397, + 0.14042 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3GD6L00D3U06V1YSE0NJQSBNAGK1MQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.92196, + 0.02276, + 15.21014 + ], + "start_rotation": [ + 0, + 0.9689, + 0, + -0.24745 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.84683, + "euclidean_distance": 26.56773, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.72057, + 0.18397, + 0.10452 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", + "path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:338JKRMM282GXBAHJM0Z9OWUXO8AHV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.03418, + 0.13713, + 13.43992 + ], + "start_rotation": [ + 0, + 0.91483, + 0, + 0.40383 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.93456, + "euclidean_distance": 26.42779, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.80215, + 0.18397, + 0.15689 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "8e489f8b8bc5448b9410a41faa216021", + "path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:31Q0U3WYDRINAYR5AULU7AEXGT3714", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.20003, + 0.18397, + 28.53882 + ], + "start_rotation": [ + 0, + 0.83624, + 0, + -0.54837 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.87095, + "euclidean_distance": 13.76597, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.97336, + 0.18397, + 40.73205 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + [ + "a3e731b8c53346cbad60c56777279606" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3VNXK88KKEL7ATVWW533SUCJZI3V9N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.68643, + 0.18397, + 41.8767 + ], + "start_rotation": [ + 0, + 0.25256, + 0, + 0.96758 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.88154, + "euclidean_distance": 15.00507, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.4672, + 0.18397, + 29.26099 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RGU30DZTCBDQIEW4PTPUS7950FJME", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 13.56025, + 0.18397, + 44.30147 + ], + "start_rotation": [ + 0, + 0.34236, + 0, + 0.93957 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.46909, + "euclidean_distance": 17.52255, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.55452, + 0.18397, + 29.4347 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3UN61F00HYSWGZC3KVLCFHIESHS5R0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.71468, + 0.18397, + 27.9227 + ], + "start_rotation": [ + 0, + 0.68612, + 0, + -0.72749 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.03034, + "euclidean_distance": 4.64413, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.87439, + 0.18397, + 27.66533 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3TU5ZICBRF4FRGG55E3FMBI0ZO78QR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.38476, + -0.01603, + 7.01834 + ], + "start_rotation": [ + 0, + 0.95261, + 0, + -0.30419 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.62711, + "euclidean_distance": 5.09411, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.37957, + -0.01603, + 6.24557 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A16K7X677N4WN6:338JKRMM282GXBAHJM0Z9OWUXO0HAU", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.1467, + 0.10379, + -0.98087 + ], + "start_rotation": [ + 0, + 0.99931, + 0, + 0.03708 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.28341, + "euclidean_distance": 24.98471, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.75843, + 0.18397, + 0.06159 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:38BQUHLA9Y3RRT5TK2LU2OOV3M7MO1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.12167, + 0.18397, + 20.59348 + ], + "start_rotation": [ + 0, + 0.19106, + 0, + -0.98158 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.72954, + "euclidean_distance": 20.69498, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.37166, + -0.01603, + 6.83229 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NLZY2D53RSA6N0OZ3CJRG46IIQQL2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.9541, + 0.18397, + 3.88368 + ], + "start_rotation": [ + 0, + 0.78413, + 0, + -0.6206 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.30448, + "euclidean_distance": 3.72596, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.69596, + 0.10007, + 1.90517 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "4534a8c9651e4ce891970e43e2724dfe", + "path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A16184N1RO5OJV:36W0OB37HYHHYJIPVEGYQHN366MHZ4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.61462, + 0.18397, + 26.42115 + ], + "start_rotation": [ + 0, + 0.70337, + 0, + -0.71083 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.79173, + "euclidean_distance": 15.77781, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.37639, + 0.18397, + 41.40934 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "c835bc9904a846ce88571c2ee3557af0" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3B837J3LDQZXM1AEWRYK8SS661ISR7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.32818, + 0.18397, + 28.23774 + ], + "start_rotation": [ + 0, + 0.47624, + 0, + 0.87932 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.66091, + "euclidean_distance": 13.96675, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.32049, + 0.18397, + 41.40745 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:369J354OFFD1AD3393158JI7M56G6D", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.14414, + 0.31457, + -7.35405 + ], + "start_rotation": [ + 0, + 0.95456, + 0, + -0.29802 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.72257, + "euclidean_distance": 15.59555, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.74967, + 0.18397, + 0.05681 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3ZQIG0FLQGJIMP84PGDV6EKUUO5VW1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.73496, + 0.18397, + 44.45792 + ], + "start_rotation": [ + 0, + 0.42101, + 0, + -0.90706 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.09866, + "euclidean_distance": 16.35687, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.51665, + 0.18397, + 29.37685 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_74_newN_1", + "path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + [ + "aa3049db9ce543e0bb9456793ad1ea2e" + ], + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + [ + "0_edge_73_newN_0" + ], + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3D4CH1LGECWOSW517A4HST9985N9GK", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.53524, + -0.01382, + -2.08651 + ], + "start_rotation": [ + 0, + 0.18428, + 0, + 0.98287 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.68586, + "euclidean_distance": 17.78099, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.05225, + 0.01919, + -0.01454 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + [ + "f40bd40958c84aff92ba792033933f3d" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3PJUZCGDJ8J9ZHZJOCST0GSBLO4892", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.73496, + 0.18397, + 44.45792 + ], + "start_rotation": [ + 0, + 0.42101, + 0, + -0.90706 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.09866, + "euclidean_distance": 16.35687, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.51665, + 0.18397, + 29.37685 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_74_newN_1", + "path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "0_edge_87_newN_1", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "0_edge_87_newN_1", + "0_edge_73_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "0_edge_87_newN_1", + [ + "0_edge_73_newN_0" + ], + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3ZOTGHDK5KEUPOIY4ZHGEXN1RGFOSB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.38594, + 0.18397, + 26.47185 + ], + "start_rotation": [ + 0, + 0.83083, + 0, + -0.55653 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.94946, + "euclidean_distance": 15.05281, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.35685, + 0.18397, + 41.43169 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0_edge_73_newN_0" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + [ + "0_edge_73_newN_0" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3N1FSUEFL73KJ6PYOP7I50VWANN4D8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.10715, + -0.01603, + 11.77902 + ], + "start_rotation": [ + 0, + 0.34845, + 0, + -0.93733 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.29319, + "euclidean_distance": 23.74529, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.65343, + 0.18397, + 0.14774 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "462cd36ba0ff43b7af69994cc7e2384f", + "path": [ + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + [ + "462cd36ba0ff43b7af69994cc7e2384f" + ], + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3S96KQ6I9O740R4O3Q8QD87OQNSTDJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.23146, + -0.01603, + 3.01473 + ], + "start_rotation": [ + 0, + 0.94328, + 0, + -0.33198 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.60403, + "euclidean_distance": 19.78924, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.71221, + 0.18397, + 0.13834 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3FPRZHYEP0ALVR6GFW2T1H9XVTK3V7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.59874, + 0.18397, + 28.77193 + ], + "start_rotation": [ + 0, + 0.09661, + 0, + -0.99532 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.0389, + "euclidean_distance": 13.95781, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.34986, + 0.18397, + 41.43101 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32EYX73OY2CD1E2ILWTKNTAUO1UURJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.53099, + -0.01603, + 5.25155 + ], + "start_rotation": [ + 0, + 0.07818, + 0, + -0.99694 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.3523, + "euclidean_distance": 26.80266, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.1863, + 0.18397, + 27.60604 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "c835bc9904a846ce88571c2ee3557af0" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Z9WI9EOZ1RM9OJ3VDDO32ZQZ12HKG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.72757, + -0.01603, + 2.89652 + ], + "start_rotation": [ + 0, + 0.59368, + 0, + -0.8047 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.99632, + "euclidean_distance": 22.2548, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.82414, + 0.18397, + 0.13816 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", + "path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0", + "0_edge_151_newN_2", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0", + [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "0_edge_151_newN_2", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + [ + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1" + ], + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e" + ], + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3VP0C6EFSIZ12NZPK6Z0LO24ERPM6U", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.65033, + 0.18397, + 22.88884 + ], + "start_rotation": [ + 0, + 0.99319, + 0, + -0.11653 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 29.2262, + "euclidean_distance": 25.3789, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.16438, + 0.16745, + 0.70824 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3483FV8BEGMBVJVWAOGG6FO69OT62D", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.21121, + -0.01603, + -6.15595 + ], + "start_rotation": [ + 0, + 0.69427, + 0, + 0.71972 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.18332, + "euclidean_distance": 20.59286, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.72173, + 0.18397, + 0.15264 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "daa0aa844488426a9174a7051698a417", + "path": [ + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "14c540221298447da11bf71477d7fbf1", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + [ + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0" + ], + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + [ + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + [ + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3YMTUJH0DUJR0VLVAF7XA4DIC8DT4F", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.675, + -0.01603, + 1.37219 + ], + "start_rotation": [ + 0, + 0.82937, + 0, + 0.55869 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 29.01821, + "euclidean_distance": 26.55406, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.96486, + 0.18397, + 27.7132 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VD82FOHKSREI7T27DRGZSJJ5DUOCI", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.82729, + 0.18397, + 26.50801 + ], + "start_rotation": [ + 0, + 0.38049, + 0, + -0.92479 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.18198, + "euclidean_distance": 14.89639, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.33832, + 0.18397, + 41.41293 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "9baaef79e7484c8e9929f78df52fc3df", + "path": [ + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:37ZHEEHM6YPJK15KXYZDV3TU9BX733", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.26579, + 0.18397, + 20.77843 + ], + "start_rotation": [ + 0, + 0.91583, + 0, + -0.40156 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.96281, + "euclidean_distance": 20.92543, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.32432, + -0.01603, + 6.7609 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:39GXDJN2OVH7WOCMRDXPSYH8BFXV8C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.52032, + 0.18397, + 24.17661 + ], + "start_rotation": [ + 0, + 0.34743, + 0, + 0.9377 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.07164, + "euclidean_distance": 14.35648, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.86953, + -0.01603, + 9.93156 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "a595e80625ce4c808cf713581ce1c0da", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3XM0HYN6NM2B05PHI4AQEGOC0TQPEE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.19053, + 0.18397, + 1.24088 + ], + "start_rotation": [ + 0, + 0.3824, + 0, + -0.924 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.86502, + "euclidean_distance": 4.41288, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.77303, + 0.10887, + 2.00295 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", + "path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + [ + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3TK8OJTYM3OS2GB3DUZ0EKCY1QQPVM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.27593, + 0.0615, + -5.31842 + ], + "start_rotation": [ + 0, + 0.23807, + 0, + -0.97125 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.03713, + "euclidean_distance": 23.19168, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.74871, + 0.18397, + 0.16684 + ] + }, + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:3300DTYQT4KW0HQWIHPFELEM5PCEQU", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.16921, + 0.00225, + -2.79283 + ], + "start_rotation": [ + 0, + 0.11717, + 0, + -0.99311 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.76742, + "euclidean_distance": 2.58545, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.25708, + 0.07513, + -0.1332 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", + "path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3C44YUNSI3S68ZBHM9Z68Y6R0ITPDR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.15267, + 0.03212, + -2.40338 + ], + "start_rotation": [ + 0, + 0.9715, + 0, + -0.23702 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.08609, + "euclidean_distance": 1.73819, + "closest_goal_object_id": 52, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.35244, + -0.01603, + -2.38936 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", + "path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "refined_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3P529IW9K0ODFYAFLN1PFH0S8MHLFC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.72551, + 0.18397, + 42.68796 + ], + "start_rotation": [ + 0, + 0.91923, + 0, + -0.39373 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.40756, + "euclidean_distance": 13.64367, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.52468, + 0.18397, + 29.23253 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_59_newN_0", + "path": [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3KOPY89HMA5C4W6MY7OAYTY305VJ3I", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.25694, + -0.01603, + 10.72078 + ], + "start_rotation": [ + 0, + 0.60607, + 0, + 0.79541 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.58284, + "euclidean_distance": 10.8364, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.37636, + -0.01603, + 6.79744 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", + "path": [ + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3R5F3LQFV4NRQ04CZRBOAQK4EV7ZOJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.12744, + 0.10983, + -5.56778 + ], + "start_rotation": [ + 0, + 0.88331, + 0, + -0.4688 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.04249, + "euclidean_distance": 3.40782, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.09223, + 0.18397, + -9.05223 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "0_edge_151_newN_2", + "path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3XLBSAQ9Z6FK5UCDI5UMZ4Y9O63Z7Z", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.08108, + 0.18397, + 26.06302 + ], + "start_rotation": [ + 0, + 0.80166, + 0, + 0.59778 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.36307, + "euclidean_distance": 15.96156, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.36241, + 0.18397, + 41.40824 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:354GIDR5ZD99LY63TCWLEQL0YLN00H", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.16092, + 0.15146, + -1.36281 + ], + "start_rotation": [ + 0, + 0.99379, + 0, + -0.11124 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 18.88429, + "euclidean_distance": 17.3352, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.07229, + 0.01246, + -0.10577 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "c0a8647aead54f7295512181bac0440e", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3QECW5O0KJ49WEPVOKQ7FWJWD52T5H", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.06884, + 0.18397, + 45.85052 + ], + "start_rotation": [ + 0, + 0.8911, + 0, + 0.45381 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.78756, + "euclidean_distance": 17.10318, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.48725, + 0.18397, + 29.32684 + ] + }, + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2e1d19c78bc74e1cb4a13927c3050e14", + "path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_74_newN_1", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + [ + "2e1d19c78bc74e1cb4a13927c3050e14" + ], + "aa3049db9ce543e0bb9456793ad1ea2e", + [ + "0_edge_87_newN_2", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e" + ], + "0_edge_74_newN_1", + [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2" + ], + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3IKZ72A5B6J33YD0X0H4S94HCG8NF4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.47042, + 0.23234, + -2.81753 + ], + "start_rotation": [ + 0, + 0.82616, + 0, + -0.56344 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.47404, + "euclidean_distance": 7.58044, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.82371, + 0.18397, + 4.6394 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3E47SOBEYSZ4MLIZ9IEBFVNXT4XICJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.51509, + 0.18397, + 11.58556 + ], + "start_rotation": [ + 0, + 0.02459, + 0, + -0.9997 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.72653, + "euclidean_distance": 5.99133, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.33203, + 0.1062, + 7.13765 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_98_newN_3", + "path": [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_2", + "0_edge_36_newN_1", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + [ + "0_edge_98_newN_3" + ], + "0_edge_98_newN_2", + [ + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb" + ], + "0_edge_36_newN_1", + [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2" + ], + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CP1TO84PV4FCFVI556BE9A6CQZ253", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.02468, + 0.18397, + -1.35985 + ], + "start_rotation": [ + 0, + 0.35234, + 0, + -0.93587 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.62785, + "euclidean_distance": 6.12129, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.73645, + 0.10469, + 2.02858 + ] + }, + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3C5W7UE9CHTEL2JLLT8QL1FOBVVXM6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.88926, + 0.18397, + 26.39045 + ], + "start_rotation": [ + 0, + 0.97747, + 0, + 0.21106 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.06737, + "euclidean_distance": 15.89549, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.39793, + 0.18397, + 41.47552 + ] + }, + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33UKMF931BNBHG0LPG85ICPAS78TTP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.21098, + 0.17452, + 0.19645 + ], + "start_rotation": [ + 0, + 0.23266, + 0, + -0.97256 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.34939, + "euclidean_distance": 6.02257, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.08817, + -0.01603, + -4.80447 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3JPSL1DZ5U2877WSMKVCE8TQFZSAN9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.12858, + -0.01603, + -3.78374 + ], + "start_rotation": [ + 0, + 0.76047, + 0, + -0.64937 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.21664, + "euclidean_distance": 5.62173, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.02206, + 0.18397, + -9.04848 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:340UGXU9D045ULJZUGYUOQZX867VUA", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.00712, + 0.06437, + -0.97976 + ], + "start_rotation": [ + 0, + 0.47405, + 0, + 0.8805 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.24166, + "euclidean_distance": 5.64641, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.8589, + 0.18397, + 4.60015 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "14c540221298447da11bf71477d7fbf1", + "path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RKNTXVS3O1MLZMM4FGGFZNQOJG4AT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.48857, + 0.0391, + -1.81566 + ], + "start_rotation": [ + 0, + 0.81289, + 0, + 0.58242 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.43997, + "euclidean_distance": 7.95333, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.15106, + 0.18397, + -8.99956 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + [ + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843" + ], + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + [ + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:308XBLVESK7Y5FTCL5CPI3I6YFVRB4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 6.71427, + 0.18397, + 44.14432 + ], + "start_rotation": [ + 0, + 0.69818, + 0, + -0.71592 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.10011, + "euclidean_distance": 0.97094, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 7.54001, + 0.18397, + 44.84032 + ] + }, + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_22_newN_1", + "path": [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4" + ], + "refined_path": [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4" + ] + }, + { + "episode_id": "A272X64FOZFYLB:36ZN444YTT15VAF2ZNN2AVHEIH2IO0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.43171, + 0.18397, + 26.53536 + ], + "start_rotation": [ + 0, + 0.59538, + 0, + -0.80344 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.83163, + "euclidean_distance": 24.60267, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.44854, + -0.01603, + 6.90261 + ] + }, + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3W2LOLRXLDIZYIX6RIPIH61VY4VRKG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.24024, + 0.16227, + 1.57898 + ], + "start_rotation": [ + 0, + 0.77609, + 0, + -0.63062 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.06511, + "euclidean_distance": 5.7508, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.68608, + 0.18397, + 0.16457 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", + "path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3HHRAGRYXA8CK9MZVTHPX2IACG89OQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.79201, + -0.01603, + -3.58773 + ], + "start_rotation": [ + 0, + 0.93594, + 0, + 0.35217 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.88526, + "euclidean_distance": 2.03418, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -10.75301, + -0.01603, + -4.23234 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "9777c924f783428ca832493cef2b5259", + "path": [ + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OCHAWUVGQNJVEJI0HVA6ONKD00KXZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.81421, + 0.18397, + -1.46921 + ], + "start_rotation": [ + 0, + 0.31855, + 0, + 0.94791 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.99871, + "euclidean_distance": 6.13535, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.94254, + 0.18397, + 4.68951 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:39OWYR0EPMUXFXHE42QF9P2O71AFYD", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.27677, + 0.18397, + 2.34058 + ], + "start_rotation": [ + 0, + 0.85544, + 0, + -0.5179 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.43359, + "euclidean_distance": 2.28848, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.87202, + 0.18397, + 4.65829 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", + "path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3WEV0KO0OOV3LRR9EQ3033B2D2PSDP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.24836, + 0.10135, + -1.16296 + ], + "start_rotation": [ + 0, + 0.84407, + 0, + -0.53623 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.34029, + "euclidean_distance": 7.70866, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.53547, + 0.04489, + 6.46518 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed" + ], + "0_edge_110_newN_0", + "0_edge_31_newN_0", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3SKRO2GZ73UB5DYPTOA3BFJJBLA1KG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.06696, + 0.18397, + 24.1867 + ], + "start_rotation": [ + 0, + 0.23591, + 0, + -0.97177 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.29448, + "euclidean_distance": 17.76801, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.53967, + 0.18397, + 41.35178 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + [ + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:39GHHAVOMHUXMSPQYLTT8YQ8PCM4J6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.26174, + -0.01603, + 6.6118 + ], + "start_rotation": [ + 0, + 0.6341, + 0, + 0.77325 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.5038, + "euclidean_distance": 2.60349, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.60769, + -0.01603, + 6.75939 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:38BQUHLA9Y3RRT5TK2LU2OOVQT1OMY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.37334, + -0.01603, + 4.50569 + ], + "start_rotation": [ + 0, + 0.11505, + 0, + 0.99336 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.69126, + "euclidean_distance": 2.83208, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.57487, + -0.01603, + 6.73619 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3KB8R4ZV1GA7GPKY5UIDJZ4ZQH1GBU", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.3461, + 0.18397, + 26.3857 + ], + "start_rotation": [ + 0, + 0.19773, + 0, + -0.98026 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.91019, + "euclidean_distance": 15.30842, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.34045, + 0.18397, + 41.46859 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "c835bc9904a846ce88571c2ee3557af0", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "89fc715c56814d59aaf7eaa522fe199a" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + [ + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:39PAAFCODO3QU84AUB8KJUDVG42TVY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.57786, + 0.07479, + -0.484 + ], + "start_rotation": [ + 0, + 0.58914, + 0, + -0.80803 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 28.58595, + "euclidean_distance": 26.39786, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.82484, + 0.18397, + 0.11642 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34FNN24DCOC5D0OPYQD6NDBA00UY5D", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.80799, + 0.18397, + 5.54884 + ], + "start_rotation": [ + 0, + 0.65462, + 0, + -0.75595 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.37614, + "euclidean_distance": 5.42705, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.78075, + 0.10976, + 1.86883 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_32_newN_2", + "path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + [ + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:39DD6S19JRE5E9RN5D8S5EQQ0TOEZ7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.33067, + 0.18397, + 21.77271 + ], + "start_rotation": [ + 0, + 0.69514, + 0, + -0.71887 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.84708, + "euclidean_distance": 21.64447, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.48236, + -0.01603, + 6.91395 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VJ40NV2QKQV4OVDTZM6O2JNK0QTOV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.27174, + 0.18397, + 17.48492 + ], + "start_rotation": [ + 0, + 0.99967, + 0, + -0.02564 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.11453, + "euclidean_distance": 17.28726, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.47218, + -0.01603, + 6.79677 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", + "path": [ + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c" + ], + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3TVRFO09GMIUFK10LH7BLO0Z522LX7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.25551, + -0.01603, + 2.801 + ], + "start_rotation": [ + 0, + 0.32722, + 0, + 0.94495 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 27.41606, + "euclidean_distance": 25.28183, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.15314, + 0.18397, + 27.53849 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", + "path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:35BLDD71I80MGKD903X25IEC4YDZV8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.4023, + 0.0068, + -4.92195 + ], + "start_rotation": [ + 0, + 0.53689, + 0, + -0.84365 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.88078, + "euclidean_distance": 4.07748, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.12749, + 0.18397, + -8.92226 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "5fb26cecda204c40ae520fbda21ce82e", + "path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + [ + "63ac2b2ef1e0457385976d17655da263" + ], + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + [ + "1611d119a70b46869c6e12117aa71972" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3HL8HNGX474IEW96WQYZA89WKL9F9E", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 9.88802, + 0.18397, + 45.10846 + ], + "start_rotation": [ + 0, + 0.67985, + 0, + 0.73335 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.06241, + "euclidean_distance": 16.69046, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.46091, + 0.18397, + 29.30863 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_84_newN_4", + "path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3OXV7EAXLGT0G1RFEOULPPTXRPV63A", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.26416, + -0.01603, + 5.62686 + ], + "start_rotation": [ + 0, + 0.97038, + 0, + 0.24157 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.30359, + "euclidean_distance": 1.2853, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.50235, + -0.01603, + 6.78347 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "AVASQBFN6J692:3TS1AR6UQSHE0DLDHT0FWCIR21R7FR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.07337, + 0.18397, + 27.66919 + ], + "start_rotation": [ + 0, + 0.76704, + 0, + 0.64159 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.52288, + "euclidean_distance": 14.4988, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 5.01398, + 0.18397, + 40.85665 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3NG53N1RLXMUR4FQ51OQM6SQGSV8PW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.0694, + -0.01603, + 6.53436 + ], + "start_rotation": [ + 0, + 0.54885, + 0, + -0.83592 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.29662, + "euclidean_distance": 2.41759, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.58382, + -0.01603, + 6.81002 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + [ + "3a5f7c6c250e4d56b96ff967489de836" + ], + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:32M8BPYGAVPH3XY4B4AU5M8CL6KGI0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.00893, + 0.18397, + 24.63504 + ], + "start_rotation": [ + 0, + 0.80956, + 0, + -0.58703 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 29.6809, + "euclidean_distance": 28.24378, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -13.99574, + 0.12143, + 0.808 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3X0H8UUIT3R2UXR0VL8QVR0M760SW0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.18987, + -0.01603, + -4.27967 + ], + "start_rotation": [ + 0, + 0.30984, + 0, + -0.95079 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.20583, + "euclidean_distance": 4.60393, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -7.58188, + -0.01603, + -5.5301 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3U84XHCDIEGNM7UUG7WFWSEY8AZ4ZR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.05102, + 0.18397, + 2.50107 + ], + "start_rotation": [ + 0, + 0.22787, + 0, + -0.97369 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.19239, + "euclidean_distance": 4.88845, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -15.56637, + 0.03679, + 5.82569 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EA3QWIZ4KYL82KAV49145N1828ITS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 11.76015, + 0.18397, + 43.34157 + ], + "start_rotation": [ + 0, + 0.86108, + 0, + -0.50847 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.66259, + "euclidean_distance": 15.80222, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.47133, + 0.18397, + 29.2661 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OF2M9AATIR809JX1ZJV393U50HKZX", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 7.26215, + 0.18397, + 42.50212 + ], + "start_rotation": [ + 0, + 0.729, + 0, + 0.68451 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.37188, + "euclidean_distance": 13.47245, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.53959, + 0.18397, + 29.29638 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "03d493822ac64466ba416f084a9d3bb9", + "path": [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64" + ], + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d" + ], + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GAF6DQWT3PLOS1SSOADOU0OJSV14", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.349, + 0.18397, + 28.60532 + ], + "start_rotation": [ + 0, + 0.64167, + 0, + 0.76698 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.11999, + "euclidean_distance": 13.35067, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 5.01359, + 0.18397, + 40.84885 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DPNQGW4LNILYXAJE2Z4ZUL4JBT64L", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.99238, + 0.18397, + 41.90459 + ], + "start_rotation": [ + 0, + 0.93347, + 0, + -0.35865 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.66848, + "euclidean_distance": 13.37077, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57631, + 0.18397, + 29.33668 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:35K3O9HUADGZ9S0N41EL2MA8PZYFEB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.01892, + 0.18397, + 42.78213 + ], + "start_rotation": [ + 0, + 0.34448, + 0, + 0.93879 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.99879, + "euclidean_distance": 15.43303, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54268, + 0.18397, + 29.27321 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "122154d283494710ae5e592fc99bf8e1" + ], + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33SA9F9TRZX1KEMIUQOL6AW8N1EWEH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.51864, + 0.18397, + 24.94363 + ], + "start_rotation": [ + 0, + 0.97574, + 0, + 0.21893 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.29166, + "euclidean_distance": 15.30841, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.06581, + -0.01603, + 9.99056 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3SKEMFQBZ58TGDIAS9JIQP6RPTQK8X", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.93231, + -0.01603, + 1.54919 + ], + "start_rotation": [ + 0, + 0.98279, + 0, + 0.18472 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.96015, + "euclidean_distance": 13.95094, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.77384, + 0.18397, + 0.07542 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3JV9LGBJWVHRZJ979ZNZPJ4YXFOOG8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.44432, + 0.04681, + 12.80795 + ], + "start_rotation": [ + 0, + 0.97736, + 0, + -0.21158 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.71908, + "euclidean_distance": 12.44398, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.32214, + -0.01603, + 6.7685 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", + "path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3483FV8BEGMBVJVWAOGG6FO62XL26C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.20852, + 0.18397, + 26.92053 + ], + "start_rotation": [ + 0, + 0.03342, + 0, + -0.99944 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.38527, + "euclidean_distance": 17.11366, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.96367, + -0.01603, + 9.9671 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "44d33d6e1d08491bbbbefbbdf4153521", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3HUTX6F6VWQ1KP10AK2ANFAW6BNO24", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.64053, + 0.18397, + -0.89145 + ], + "start_rotation": [ + 0, + 0.84582, + 0, + -0.53348 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.82542, + "euclidean_distance": 5.76013, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.85368, + 0.18397, + 4.62394 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RXPCZQMQRE63R263XPODNRPJSN1GW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.58196, + 0.18397, + 22.43003 + ], + "start_rotation": [ + 0, + 0.43375, + 0, + 0.90103 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.67673, + "euclidean_distance": 20.89256, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.45665, + -0.01603, + 6.82457 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:39N5ACM9HGQU59Y0ATU4M2N0MSVP9S", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.16016, + 0.03857, + -2.25135 + ], + "start_rotation": [ + 0, + 0.99037, + 0, + 0.13844 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.74427, + "euclidean_distance": 24.09314, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.80552, + 0.18397, + 0.10806 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37FMASSAYEULCGQTVIIG4BHF2VUBIH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.74312, + -0.01603, + 2.83289 + ], + "start_rotation": [ + 0, + 0.18481, + 0, + -0.98277 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.32399, + "euclidean_distance": 25.09714, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.20749, + 0.18397, + 27.61297 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "95402f398bab4d1f83c68015eccd5cc8" + ], + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3MRNMEIQW79GHEWJUH6ZRHX7PIOLDZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.02643, + 0.18397, + 11.79957 + ], + "start_rotation": [ + 0, + 0.87489, + 0, + -0.48432 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.17478, + "euclidean_distance": 5.83418, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.57656, + 0.16993, + 7.17422 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "e3676c851d0f434e9bbf6911f7a676fb", + "path": [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + [ + "9777c924f783428ca832493cef2b5259" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + [ + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NLZY2D53RSA6N0OZ3CJRG45RG9LQJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 10.58158, + 0.18397, + 43.65484 + ], + "start_rotation": [ + 0, + 0.51749, + 0, + -0.85569 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.46779, + "euclidean_distance": 15.58175, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.56776, + 0.18397, + 29.35111 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3YHH42UU5DIMIUVPI5I4CADOST4L0S", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.16081, + 0.18397, + 25.55521 + ], + "start_rotation": [ + 0, + 0.88768, + 0, + -0.46046 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.62298, + "euclidean_distance": 16.47164, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.36271, + 0.18397, + 41.4488 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3E47SOBEYSZ4MLIZ9IEBFVNXKECIC9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.28298, + 0.18397, + 25.80386 + ], + "start_rotation": [ + 0, + 0.0584, + 0, + 0.99829 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.2368, + "euclidean_distance": 15.89139, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.42667, + 0.18397, + 41.44107 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3C2NJ6JBKCKJ241O952X8QASXM1N2W", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.19311, + 0.18397, + 1.90393 + ], + "start_rotation": [ + 0, + 0.91839, + 0, + -0.39568 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.15079, + "euclidean_distance": 5.37103, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75684, + 0.10702, + 1.87926 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", + "path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YWRV122CU27J9NMMNNKWCFOAXS8UT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.59369, + 0.06696, + -0.77688 + ], + "start_rotation": [ + 0, + 0.22796, + 0, + 0.97367 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.47826, + "euclidean_distance": 6.22316, + "closest_goal_object_id": 55, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.02906, + -0.01603, + -4.83992 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ] + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3483FV8BEGMBVJVWAOGG6FO6YMB26C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.65395, + -0.01603, + 5.02116 + ], + "start_rotation": [ + 0, + 0.98942, + 0, + -0.14506 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.76265, + "euclidean_distance": 2.64544, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.50613, + -0.01603, + 6.80495 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3SKRO2GZ73UB5DYPTOA3BFJJBMVK1M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.24401, + 0.18397, + 42.97459 + ], + "start_rotation": [ + 0, + 0.37695, + 0, + 0.92623 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.39083, + "euclidean_distance": 14.16458, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54769, + 0.18397, + 29.35556 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3IXQG4FA2V1S1FXQROC3RIIB5NH9BQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.07933, + -0.01603, + 0.61606 + ], + "start_rotation": [ + 0, + 0.40685, + 0, + 0.91349 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 29.8283, + "euclidean_distance": 27.25611, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.00387, + 0.18397, + 27.65307 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "0_edge_84_newN_4", + "171278a4cf64429d9ab2df21adcc60d8", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "e08f96be3042438dbcbead0207f8b016", + "ee62dcd77a3446028da94a7b93a2afe7", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "0_edge_8_newN_2", + "7a87d776b160483a95fc4f7cdffe0432" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa" + ], + "171278a4cf64429d9ab2df21adcc60d8", + [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + [ + "3a5f7c6c250e4d56b96ff967489de836" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560" + ], + "0_edge_3_newN_0", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + [ + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9" + ], + "e08f96be3042438dbcbead0207f8b016", + [ + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d" + ], + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016" + ], + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + [ + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3OB0CAO74JSHTT8KZSEFCAE1QPKHYV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.4046, + 0.27344, + -7.12135 + ], + "start_rotation": [ + 0, + 0.72348, + 0, + 0.69035 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.87475, + "euclidean_distance": 1.75344, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -0.32923, + 0.18397, + -7.49179 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_151_newN_1", + "path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:36U2A8VAG328VJ9S5DHCP2US1L6KYV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.73334, + 0.18397, + 23.94179 + ], + "start_rotation": [ + 0, + 0.72667, + 0, + -0.68698 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.79594, + "euclidean_distance": 13.964, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.87494, + -0.01603, + 9.92086 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JMSRU9HQKXO5PMD4GJPK8DTZBSVE5", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 12.34514, + 0.18397, + 44.93878 + ], + "start_rotation": [ + 0, + 0.99927, + 0, + 0.03827 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.35889, + "euclidean_distance": 17.4905, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54869, + 0.18397, + 29.43769 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A272X64FOZFYLB:33F859I568GLGLF9P00V4ZGZOU1HBO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.90215, + 0.18397, + 22.58802 + ], + "start_rotation": [ + 0, + 0.68951, + 0, + -0.72427 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.63853, + "euclidean_distance": 20.56407, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.50628, + -0.01603, + 6.92721 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3KRVW3HTZPO6PLXMRJ23MTYWNSBSMQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -4.30935, + -0.01603, + 3.86968 + ], + "start_rotation": [ + 0, + 0.97314, + 0, + -0.23023 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.12258, + "euclidean_distance": 18.87285, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.69131, + 0.18397, + 0.15204 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_129_newN_0", + "path": [ + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3KYQYYSHYXAONZZG79MRJY11GD8ODA", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -23.27006, + 0.18397, + -0.32541 + ], + "start_rotation": [ + 0, + 0.98198, + 0, + 0.18898 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.4041, + "euclidean_distance": 6.80991, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75727, + 0.10707, + 2.00754 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:37UQDCYH6ZY3WA73H85JEYLDU617VR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.10176, + 0.18397, + 42.98524 + ], + "start_rotation": [ + 0, + 0.60688, + 0, + -0.79479 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.27493, + "euclidean_distance": 14.13762, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.50376, + 0.18397, + 29.39159 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "03d493822ac64466ba416f084a9d3bb9", + "path": [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A12PUQIBXRBOXV:3NKQQ8O3908J04JD3VY0I4TQZ0KUDK", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.93001, + -0.01603, + 1.02407 + ], + "start_rotation": [ + 0, + 0.13146, + 0, + 0.99132 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 17.0644, + "euclidean_distance": 17.04799, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.04315, + 0.11956, + 0.68095 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3X65QVEQI2Q6CMQ5ULBO7BFP4I8CLM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.23497, + 0.18397, + 28.21798 + ], + "start_rotation": [ + 0, + 0.97842, + 0, + -0.20662 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.51339, + "euclidean_distance": 14.31472, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.49613, + 0.18397, + 41.37659 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3QILPRALQ7YUOJ3DPMBYIHNU21FN8W", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.31262, + 0.18397, + 28.52659 + ], + "start_rotation": [ + 0, + 0.81113, + 0, + 0.58486 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.76336, + "euclidean_distance": 13.68967, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.44337, + 0.18397, + 41.46548 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3IQ1VMJRYVNNI5SYLAC7W7Y5LG8A9S", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.72738, + 0.18397, + 26.20457 + ], + "start_rotation": [ + 0, + 0.29388, + 0, + 0.95584 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.93537, + "euclidean_distance": 15.0195, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.91388, + 0.18397, + 40.89295 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37M28K1J0SGCOH577M3KL1C9XQ9AJ4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.83709, + 0.21024, + -5.55529 + ], + "start_rotation": [ + 0, + 0.94067, + 0, + 0.33933 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.35097, + "euclidean_distance": 2.87709, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -0.2847, + 0.18397, + -7.51737 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_151_newN_2", + "path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3E337GFOLBB9HY9V8KNMAU4T47BGNE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.93419, + -0.01603, + -2.4651 + ], + "start_rotation": [ + 0, + 0.68566, + 0, + 0.72792 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.69547, + "euclidean_distance": 19.05991, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.6977, + 0.18397, + 0.11144 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "171278a4cf64429d9ab2df21adcc60d8", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "0_edge_8_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "0_edge_11_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + "3a5f7c6c250e4d56b96ff967489de836", + "14c540221298447da11bf71477d7fbf1", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + [ + "0_edge_59_newN_0", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa" + ], + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560" + ], + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "3a5f7c6c250e4d56b96ff967489de836", + [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + [ + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A272X64FOZFYLB:32SVAV9L3HC1333I41BX5UVJKILA3L", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.91424, + 0.18397, + 24.38663 + ], + "start_rotation": [ + 0, + 0.68759, + 0, + 0.7261 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.43259, + "euclidean_distance": 21.97375, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.38809, + -0.01603, + 6.82412 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3SB5N7Y3O576W2HO7ELOZI8GWENG0Q", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.94058, + 0.38397, + -7.06877 + ], + "start_rotation": [ + 0, + 0.91051, + 0, + -0.41349 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 29.83995, + "euclidean_distance": 25.78606, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.68648, + 0.18397, + 0.11874 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_151_newN_1", + "path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3OCHAWUVGQNJVEJI0HVA6ONKCQEKXS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.13863, + 0.18397, + 25.4522 + ], + "start_rotation": [ + 0, + 0.89061, + 0, + -0.45477 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.0624, + "euclidean_distance": 24.1953, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.43025, + -0.01603, + 6.94914 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:304SM51WA57A6UTP0UCU8DN2BTCBSP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.4988, + -0.01603, + 2.90888 + ], + "start_rotation": [ + 0, + 0.11176, + 0, + 0.99374 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.03493, + "euclidean_distance": 14.57703, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.79763, + 0.18397, + 0.09444 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LYA37P8ISQCIBGHVL3SHRWSUZOBKX", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.79463, + 0.18397, + 46.77364 + ], + "start_rotation": [ + 0, + 0.21951, + 0, + -0.97561 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.1922, + "euclidean_distance": 17.65448, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.60033, + 0.18397, + 29.41174 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", + "path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d" + ], + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:36NEMU28XHGZW2EVBOC4JI1GFFUMWQ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.48428, + 0.18397, + -0.17422 + ], + "start_rotation": [ + 0, + 0.94383, + 0, + -0.33043 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.32194, + "euclidean_distance": 5.0889, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75694, + 0.10704, + 1.94995 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WMOAN2SRD0SZVZQXFM8AV73UKWVNE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.72058, + -0.01603, + -3.2815 + ], + "start_rotation": [ + 0, + 0.15181, + 0, + -0.98841 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.71286, + "euclidean_distance": 5.43722, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.23867, + 0.06023, + -0.18839 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_2_newN_1", + "path": [ + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3E337GFOLBB9HY9V8KNMAU4T75RGNT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.35053, + 0.18397, + 28.15932 + ], + "start_rotation": [ + 0, + 0.60855, + 0, + -0.79352 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.89691, + "euclidean_distance": 14.17296, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.88862, + 0.18397, + 40.92419 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "7a87d776b160483a95fc4f7cdffe0432", + "0_edge_11_newN_1", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e" + ], + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "c835bc9904a846ce88571c2ee3557af0" + ], + "7a87d776b160483a95fc4f7cdffe0432", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34T446B1C2HTFQ1J5SP59RN1YKO0CP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.35677, + 0.18397, + 23.50042 + ], + "start_rotation": [ + 0, + 0.75034, + 0, + 0.66105 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.78465, + "euclidean_distance": 18.75882, + "closest_goal_object_id": 103, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.22365, + -0.01603, + 4.843 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A141U21ZM8A3KE:3ZWFC4W1UWAOIW5SQ7YL1T9QQ1PFRZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.63957, + 0.18397, + 24.85349 + ], + "start_rotation": [ + 0, + 0.58581, + 0, + 0.81045 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.00045, + "euclidean_distance": 22.78651, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.36071, + -0.01603, + 6.75037 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + [ + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A5A14MTB35J23:39GHHAVOMHUXMSPQYLTT8YQ946M4JB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.1527, + 0.18397, + 21.98728 + ], + "start_rotation": [ + 0, + 0.07119, + 0, + 0.99746 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 27.2021, + "euclidean_distance": 25.55858, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -13.95393, + 0.10377, + 0.73429 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RKNTXVS3O1MLZMM4FGGFZNQIUI4AB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.7016, + 0.18397, + 44.78428 + ], + "start_rotation": [ + 0, + 0.80747, + 0, + 0.58991 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.02714, + "euclidean_distance": 17.04284, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.55252, + 0.18397, + 29.36997 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_144_newN_0", + "path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_0", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + [ + "0_edge_144_newN_0" + ], + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WOKGM4L73JUOFYMVXYW4RHIQYUO00", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.48356, + 0.18397, + 21.76433 + ], + "start_rotation": [ + 0, + 0.92027, + 0, + -0.39127 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 26.84526, + "euclidean_distance": 25.56141, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.02826, + 0.12599, + 0.75991 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560" + ], + "0_edge_3_newN_0", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:382M9COHEJIOSAXDZQ9KOMBBZL8EU2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.95702, + 0.18397, + 23.86259 + ], + "start_rotation": [ + 0, + 0.95662, + 0, + 0.29133 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.67358, + "euclidean_distance": 19.14052, + "closest_goal_object_id": 103, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.12672, + -0.01603, + 4.86295 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3M68NM076JASZ3CHPEVH7NWEEQ7R6O", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -4.39596, + -0.01603, + 2.81584 + ], + "start_rotation": [ + 0, + 0.51357, + 0, + 0.85805 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.46605, + "euclidean_distance": 18.6083, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.73545, + 0.18397, + 0.07477 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3SNLUL3WO6Q2YG75GCWO1H1VBIBULA", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.95603, + 0.18397, + 26.41195 + ], + "start_rotation": [ + 0, + 0.34286, + 0, + -0.93939 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.5902, + "euclidean_distance": 24.21936, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.29747, + -0.01603, + 6.7597 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3B3WTRP3DD5YD2XU8VJSQPF8ON4298", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.18658, + 0.02471, + -1.81315 + ], + "start_rotation": [ + 0, + 0.95275, + 0, + -0.30375 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 19.35188, + "euclidean_distance": 17.40327, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.13662, + 0.077, + 0.1704 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "95402f398bab4d1f83c68015eccd5cc8", + [ + "f40bd40958c84aff92ba792033933f3d" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3U8YCDAGXRJX9RB2AAQ0TWCI50Z0Q9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.04645, + 0.20691, + -2.95339 + ], + "start_rotation": [ + 0, + 0.82822, + 0, + -0.5604 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.21332, + "euclidean_distance": 7.59635, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.77184, + 0.18397, + 4.58402 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FFJ6VRIL3RKSTNJX2LRKULVX9BI00", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 11.93538, + 0.18397, + 42.26636 + ], + "start_rotation": [ + 0, + 0.7727, + 0, + -0.63477 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.04628, + "euclidean_distance": 14.94342, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54673, + 0.18397, + 29.28014 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "122154d283494710ae5e592fc99bf8e1", + "path": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:37TD41K0AJCTGZLVEU8PJXTKTDPCS8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.7491, + 0.01061, + 1.36234 + ], + "start_rotation": [ + 0, + 0.31194, + 0, + -0.9501 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.82868, + "euclidean_distance": 3.82868, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.35431, + -0.01603, + -1.99197 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AS2MFSWNC5CQI:30BXRYBRP60D4ODKKRWRRDTLCHDHWM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -5.02523, + -0.01603, + 1.56722 + ], + "start_rotation": [ + 0, + 0.99582, + 0, + -0.09136 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.84924, + "euclidean_distance": 2.84924, + "closest_goal_object_id": 103, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.16653, + -0.01603, + 3.55223 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3N2BF7Y2VSXHZCJ6GPQ4IFRTYCJHMR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.69298, + 0.18397, + 26.70353 + ], + "start_rotation": [ + 0, + 0.06115, + 0, + 0.99813 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.7672, + "euclidean_distance": 14.53954, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.87618, + 0.18397, + 40.91889 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RXPCZQMQRE63R263XPODNRPKTO1G0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.6911, + -0.01603, + 8.8909 + ], + "start_rotation": [ + 0, + 0.75411, + 0, + -0.65674 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.26603, + "euclidean_distance": 8.93207, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.3714, + -0.01603, + 6.7789 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", + "path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:30JNVC0ORBN8KRHY8IXLZOBZRJWQH0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.1378, + -0.01603, + 1.27221 + ], + "start_rotation": [ + 0, + 0.0621, + 0, + 0.99807 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.80104, + "euclidean_distance": 14.71802, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.76658, + 0.18397, + 0.08754 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_11_newN_1", + "path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LPW2N6LKV5OWR4KOPGHKS5YPSYU59", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.05545, + 0.37694, + -5.44254 + ], + "start_rotation": [ + 0, + 0.46026, + 0, + -0.88779 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.61938, + "euclidean_distance": 1.51522, + "closest_goal_object_id": 45, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.68642, + 0.18397, + -5.164 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_0_newN_1", + "path": [ + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27" + ], + "refined_path": [ + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + [ + "d260eaeca5694719868f318ab468be27" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3P59JYT76NNHXH6861O9HPGKIUC2TD", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.19334, + 0.17063, + -0.53023 + ], + "start_rotation": [ + 0, + 0.92337, + 0, + -0.38392 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.54249, + "euclidean_distance": 9.01829, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 0.18002, + 0.18397, + -8.96321 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A272X64FOZFYLB:333U7HK6IBIAMO8JRWUMB2KE2PCJDV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.36803, + 0.18397, + 24.97098 + ], + "start_rotation": [ + 0, + 0.49067, + 0, + -0.87135 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.71483, + "euclidean_distance": 16.69388, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.4306, + 0.18397, + 41.46463 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + [ + "171278a4cf64429d9ab2df21adcc60d8" + ], + "a66ff11e61dd489994fba110d257025e", + [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A16K7X677N4WN6:33UKMF931BNBHG0LPG85ICPAMJFTTE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.06676, + -0.01603, + 3.64976 + ], + "start_rotation": [ + 0, + 0.79349, + 0, + -0.60858 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.3726, + "euclidean_distance": 20.05307, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.7515, + 0.18397, + 0.05228 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33NF62TLXL5I0UETJDG9FFF5229KJZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.39892, + 0.25942, + -6.95528 + ], + "start_rotation": [ + 0, + 0.60586, + 0, + 0.79557 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.96702, + "euclidean_distance": 1.78761, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -0.29695, + 0.18397, + -7.52499 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_151_newN_1", + "path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3OJSZ2ATDUZMYGSOBHN6A0RDYIW57U", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.00846, + 0.18397, + 27.3032 + ], + "start_rotation": [ + 0, + 0.64629, + 0, + 0.76309 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.22954, + "euclidean_distance": 3.96641, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.98773, + 0.18397, + 27.66614 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3EO896NRAYYH3D4GDMU1G621LGMTJ2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.19063, + -0.01603, + 1.18069 + ], + "start_rotation": [ + 0, + 0.39709, + 0, + -0.91778 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.76946, + "euclidean_distance": 4.50188, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.21376, + -0.01603, + -2.0725 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TR2532VIRXB1FT4H9M85WAN46VJ60", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.48285, + 0.18397, + 7.31905 + ], + "start_rotation": [ + 0, + 0.98475, + 0, + -0.17395 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.38902, + "euclidean_distance": 6.56813, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.7798, + 0.10965, + 1.83707 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_28_newN_0", + "path": [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3R8YZBNQ9JLBR2BMV9B98BM5DDR7Q0", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.74434, + -0.01603, + 10.87352 + ], + "start_rotation": [ + 0, + 0.93289, + 0, + -0.36017 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.39077, + "euclidean_distance": 10.43868, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.37373, + -0.01603, + 6.83163 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "854ce53825a347bba52684d20cca190b", + "path": [ + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + [ + "854ce53825a347bba52684d20cca190b" + ], + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:34Z02EIMIUGA173UREKVY1N5M7QT05", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 9.358, + 0.18397, + 42.56826 + ], + "start_rotation": [ + 0, + 0.32549, + 0, + 0.94554 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.54703, + "euclidean_distance": 14.11952, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.49717, + 0.18397, + 29.22225 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "deb943d89d2a44ce8850edec3c7308f9", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_59_newN_1", + "0db658dc49514ca18be7b44ceb363849" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + [ + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1" + ], + "0db658dc49514ca18be7b44ceb363849", + [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:384PI804XU49M7QF2EF5OWRJKOLS0O", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 5.99948, + 0.18397, + 30.59434 + ], + "start_rotation": [ + 0, + 0.92066, + 0, + -0.39037 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 1.86562, + "euclidean_distance": 1.86562, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.96356, + 0.18397, + 29.24456 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "8067c649a55045d79e0ef8908e174b14", + "path": [ + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OLF68YTNB4WJFJBOWCZ63KH7J7AFJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.44062, + 0.18397, + 11.44717 + ], + "start_rotation": [ + 0, + 0.43465, + 0, + -0.9006 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.41992, + "euclidean_distance": 9.93289, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.70065, + 0.1006, + 1.87327 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "e3676c851d0f434e9bbf6911f7a676fb", + "path": [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3FTOP5WARHRGN47PFK6RWV0WNUQ0JB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -7.50387, + -0.01603, + -5.42702 + ], + "start_rotation": [ + 0, + 0.96465, + 0, + 0.26355 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.33535, + "euclidean_distance": 8.49423, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.0769, + 0.00921, + -0.1386 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e" + ], + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + [ + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QUO65DNQWRA41A2T4CGTY5P6OYUOB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.31411, + 0.18397, + 28.9878 + ], + "start_rotation": [ + 0, + 0.18195, + 0, + -0.98331 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.86555, + "euclidean_distance": 13.64212, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.42175, + 0.18397, + 41.35423 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3K2755HG5U6UHMMN8631W4SNSPQDFG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.23198, + -0.01603, + -1.37837 + ], + "start_rotation": [ + 0, + 0.9758, + 0, + 0.21867 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.13571, + "euclidean_distance": 22.63297, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.76326, + 0.18397, + 0.17602 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3H7Z272LX9AP6BZ9ZQXURBEW339LPZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.58263, + 0.18397, + 44.86063 + ], + "start_rotation": [ + 0, + 0.31565, + 0, + -0.94888 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.91665, + "euclidean_distance": 17.06265, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57979, + 0.18397, + 29.29913 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_144_newN_0", + "path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_0", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + [ + "0_edge_144_newN_0" + ], + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37TD41K0AJCTGZLVEU8PJXTJFUICSJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.88655, + 0.03164, + -2.8949 + ], + "start_rotation": [ + 0, + 0.04024, + 0, + 0.99919 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.56233, + "euclidean_distance": 3.56233, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.59091, + 0.16685, + -6.39505 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:374TNBHA8DYU6M7NII19LO62ECXQYE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.86811, + -0.01603, + 5.32901 + ], + "start_rotation": [ + 0, + 0.90477, + 0, + 0.42589 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.97573, + "euclidean_distance": 1.44836, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.60993, + -0.01603, + 6.84692 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3NQL1CS15TBMBU344HVJRB59HPHYVB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.42525, + 0.34761, + -3.1256 + ], + "start_rotation": [ + 0, + 0.2727, + 0, + 0.9621 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.15908, + "euclidean_distance": 5.48051, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.73624, + 0.18397, + 0.08982 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + [ + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + [ + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3G5W44VEU9L89SOSB7V6I2NPAAPGKO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.64351, + 0.18397, + 25.10549 + ], + "start_rotation": [ + 0, + 0.22704, + 0, + 0.97389 + ], + "object_category": "table", + "info": { + "geodesic_distance": 22.04949, + "euclidean_distance": 18.14846, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.36888, + 0.18397, + 41.43726 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3HL8HNGX474IEW96WQYZA89WIGB9FY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.19264, + 0.073, + -0.78592 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00313 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 17.6085, + "euclidean_distance": 16.33003, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.03152, + 0.03282, + 0.11036 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:32RIADZISU7QLV8GLF270ZHW1ZPS4Q", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.17599, + 0.18397, + 5.50595 + ], + "start_rotation": [ + 0, + 0.84964, + 0, + -0.52737 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.55097, + "euclidean_distance": 4.94109, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.29538, + 0.02909, + 6.39946 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_111_newN_2", + "path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "c0a8647aead54f7295512181bac0440e" + ], + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3TMSXRD2X8320DS6I2T6ZQDEYSK1WD", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.76099, + -0.01603, + -4.06353 + ], + "start_rotation": [ + 0, + 0.56643, + 0, + -0.82411 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.36189, + "euclidean_distance": 2.33934, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.62164, + 0.12996, + -6.32664 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3E4GGUZ1TAUIUYGLCSAHGYTOZHK2K6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -4.04018, + -0.01603, + 1.20152 + ], + "start_rotation": [ + 0, + 0.93351, + 0, + -0.35855 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.16323, + "euclidean_distance": 7.58057, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -7.53994, + -0.01603, + -5.52509 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:33OOO72IVJOUVZYA3UDFT2P6Y45TCZ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.29733, + -0.01603, + 10.19195 + ], + "start_rotation": [ + 0, + 0.99868, + 0, + 0.05129 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.30943, + "euclidean_distance": 21.94526, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.7427, + 0.18397, + 0.05902 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", + "path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:34Q075JO1ZG9SNRLPV0LSV49GZK01U", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.26894, + 0.18397, + 3.58557 + ], + "start_rotation": [ + 0, + 0.98353, + 0, + 0.18077 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.68216, + "euclidean_distance": 3.8522, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75283, + 0.10657, + 1.79477 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_136_newN_2", + "path": [ + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2" + ], + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32Q90QCQ1UOAPES15C5IIZ2CJCIKE3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.13956, + -0.01603, + -3.66343 + ], + "start_rotation": [ + 0, + 0.29643, + 0, + -0.95506 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.36954, + "euclidean_distance": 3.14874, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.62331, + 0.16835, + -6.40623 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:39KFRKBFIPYRLAU73595WJB1LQEYOR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.50727, + -0.01603, + -4.32805 + ], + "start_rotation": [ + 0, + 0.08478, + 0, + -0.9964 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.45243, + "euclidean_distance": 2.26978, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.67588, + 0.16529, + -6.41307 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3QILPRALQ7YUOJ3DPMBYIHNU01D8ND", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.30664, + 0.12917, + -0.65968 + ], + "start_rotation": [ + 0, + 0.63748, + 0, + -0.77046 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 17.78424, + "euclidean_distance": 16.43801, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.17597, + 0.0657, + -0.00023 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e" + ], + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + [ + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + [ + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3L4D84MIL1VRY4DLDSDC2NZCWZ6JH7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.44964, + 0.18397, + 24.54978 + ], + "start_rotation": [ + 0, + 0.98398, + 0, + 0.17828 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.60111, + "euclidean_distance": 21.82704, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.45757, + -0.01603, + 6.83831 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GDTJDAPVWEO61IDDLWY52YUXBDM83", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.97203, + 0.18397, + 25.57364 + ], + "start_rotation": [ + 0, + 0.87251, + 0, + -0.4886 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.86236, + "euclidean_distance": 16.00018, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.42194, + 0.18397, + 41.47341 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_59_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7ISHFUH2YO58HWSAMSD4U4T24Z8Z", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.64767, + 0.18397, + 27.58197 + ], + "start_rotation": [ + 0, + 0.81926, + 0, + -0.57342 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.89728, + "euclidean_distance": 4.58014, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.93129, + 0.18397, + 27.68967 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3MAOD8E57SDK3K4LXUNQYG4OAWXXNE", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 10.23537, + 0.18397, + 44.45275 + ], + "start_rotation": [ + 0, + 0.4483, + 0, + 0.89388 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.19419, + "euclidean_distance": 16.19214, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.53806, + 0.18397, + 29.27486 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_84_newN_4", + "path": [ + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3KRVW3HTZPO6PLXMRJ23MTYWQQ4MSC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.75901, + 0.18397, + 17.24939 + ], + "start_rotation": [ + 0, + 0.25328, + 0, + -0.96739 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 19.64525, + "euclidean_distance": 16.73812, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.44219, + -0.01603, + 6.75764 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", + "path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0" + ], + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3M23Y66PO4A40ICU43VMXX19HN46SA", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.995, + -0.01603, + 6.08466 + ], + "start_rotation": [ + 0, + 0.84239, + 0, + -0.53887 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.87408, + "euclidean_distance": 26.37174, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.01353, + 0.18397, + 27.73452 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:38BQUHLA9Y3RRT5TK2LU2OOVQ3EOMV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.35544, + -0.01603, + 2.1824 + ], + "start_rotation": [ + 0, + 0.10763, + 0, + -0.99419 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 27.00701, + "euclidean_distance": 25.24975, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.78263, + 0.18397, + 0.16396 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "95402f398bab4d1f83c68015eccd5cc8", + "path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "95402f398bab4d1f83c68015eccd5cc8", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3SNLUL3WO6Q2YG75GCWO1H1UU35ULR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.80284, + -0.01603, + 3.34032 + ], + "start_rotation": [ + 0, + 0.9393, + 0, + 0.34309 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.12529, + "euclidean_distance": 20.26205, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.66688, + 0.18397, + 0.14874 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + [ + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + [ + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3EWIJTFFVQA8COLX1JV0ZFN35HYE0J", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.43552, + -0.01603, + 2.26245 + ], + "start_rotation": [ + 0, + 0.82065, + 0, + 0.57143 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 27.59657, + "euclidean_distance": 25.84349, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.98337, + 0.18397, + 27.65462 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "ee62dcd77a3446028da94a7b93a2afe7", + "path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3G0WWMR1UXN0UN39BGSY488UW4UNQU", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.46327, + -0.01603, + -4.7983 + ], + "start_rotation": [ + 0, + 0.58231, + 0, + -0.81296 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.48963, + "euclidean_distance": 5.34731, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.06176, + -0.00617, + -0.22197 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "d260eaeca5694719868f318ab468be27", + "path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_2_newN_1", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_2_newN_1", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JCG6DTRV5TLXKG1R8KF8230ETFQQP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.72419, + 0.18397, + 1.91317 + ], + "start_rotation": [ + 0, + 0.2117, + 0, + -0.97734 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.04682, + "euclidean_distance": 3.90243, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.77666, + 0.10929, + 1.91996 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", + "path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3B3WTRP3DD5YD2XU8VJSQPF7BCR921", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.64648, + -0.01603, + 8.10158 + ], + "start_rotation": [ + 0, + 0.52965, + 0, + 0.84822 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.87629, + "euclidean_distance": 2.39337, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.61727, + -0.01603, + 6.77515 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3DUZQ9U6SORPF8RV5B3U9PH9HL6VSW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.2128, + 0.18397, + 46.68659 + ], + "start_rotation": [ + 0, + 0.40179, + 0, + 0.91573 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.64519, + "euclidean_distance": 17.98365, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54871, + 0.18397, + 29.33837 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", + "path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3V0Z7YWSI03WA9AXBWOOI745FFL2VM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 3.33541, + 0.18397, + 22.77946 + ], + "start_rotation": [ + 0, + 0.81836, + 0, + -0.5747 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.72968, + "euclidean_distance": 22.35124, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.48299, + -0.01603, + 6.81664 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33M4IA01QI45IIWDQ147709XUBKXRH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 14.34929, + 0.18397, + 44.17903 + ], + "start_rotation": [ + 0, + 0.38129, + 0, + -0.92446 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 22.24753, + "euclidean_distance": 17.84259, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57886, + 0.18397, + 29.28539 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3VD82FOHKSREI7T27DRGZSJJZN6OC8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.57704, + -0.01603, + 6.83059 + ], + "start_rotation": [ + 0, + 0.29052, + 0, + -0.95687 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.88231, + "euclidean_distance": 2.9152, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.5249, + -0.01603, + 6.74803 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3WETL7AQWVB4XXR195KGXJFY9HS53R", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.31563, + -0.01603, + 1.83838 + ], + "start_rotation": [ + 0, + 0.08441, + 0, + 0.99643 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.49941, + "euclidean_distance": 13.60238, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.71601, + 0.18397, + 0.07582 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "7a87d776b160483a95fc4f7cdffe0432", + "path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3N4BPTXIOAVREAPNVCKNMHOGJ9RUK7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.12915, + -0.01603, + -6.68729 + ], + "start_rotation": [ + 0, + 0.91736, + 0, + -0.39805 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.50243, + "euclidean_distance": 8.88286, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.19761, + 0.05272, + -0.13938 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e" + ], + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3JAOYWH7VK74EOJ2I11X5LEHYYJ9LI", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.02597, + 0.23129, + -2.30029 + ], + "start_rotation": [ + 0, + 0.76223, + 0, + 0.6473 + ], + "object_category": "table", + "info": { + "geodesic_distance": 9.20002, + "euclidean_distance": 8.61204, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -15.52844, + 0.03034, + 5.91603 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3EFE17QCRE8KX7WB0MMQUOQ094JHSC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.87411, + -0.01603, + 7.36468 + ], + "start_rotation": [ + 0, + 0.99432, + 0, + -0.10643 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.25571, + "euclidean_distance": 4.64547, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.40227, + 0.12889, + 6.01806 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + [ + "3a5f7c6c250e4d56b96ff967489de836" + ], + "c835bc9904a846ce88571c2ee3557af0", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36W0OB37HYHHYJIPVEGYQHN3S93HZD", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.99066, + 0.18397, + 8.04798 + ], + "start_rotation": [ + 0, + 0.92556, + 0, + 0.3786 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.31807, + "euclidean_distance": 6.94702, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.68074, + 0.09833, + 1.96881 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_28_newN_0", + "path": [ + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3LO69W1SU5GJTY6AW777X2042JKGL2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.6265, + 0.18397, + 2.3077 + ], + "start_rotation": [ + 0, + 0.74929, + 0, + 0.66225 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.19584, + "euclidean_distance": 4.70646, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.77476, + 0.18397, + 0.16433 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_31_newN_0", + "path": [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + [ + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3C7COPV48I37D:3OVHNO1VE840M3DN9IX8ZW84LSZZDG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.995, + -0.01603, + 6.08466 + ], + "start_rotation": [ + 0, + 0.84239, + 0, + -0.53887 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.87408, + "euclidean_distance": 26.37174, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.01353, + 0.18397, + 27.73452 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "a66ff11e61dd489994fba110d257025e" + ], + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:30ZX6P7VFAYNJEA3U7A5FJTBL2NJ2C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.35023, + -0.01603, + 7.84794 + ], + "start_rotation": [ + 0, + 0.105, + 0, + 0.99447 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.04987, + "euclidean_distance": 2.58095, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.48954, + -0.01603, + 6.20954 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ] + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3I3WADAZ9S7TJMKNS348LMD8QIA5OC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.56517, + 0.18397, + 16.86381 + ], + "start_rotation": [ + 0, + 0.93271, + 0, + -0.36064 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 22.76483, + "euclidean_distance": 22.46114, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.16825, + 0.1639, + 0.67513 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", + "path": [ + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c" + ], + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3GDTJDAPVWEO61IDDLWY52YVBY18M3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.0326, + -0.01603, + 0.00439 + ], + "start_rotation": [ + 0, + 0.84912, + 0, + -0.52819 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.95766, + "euclidean_distance": 23.84594, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.75467, + 0.18397, + 0.14762 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999", + [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3EF8EXOTT3YGUTS7B3ARA0J5FBMJ1M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.04253, + 0.18397, + 7.11727 + ], + "start_rotation": [ + 0, + 0.79689, + 0, + 0.60413 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.19471, + "euclidean_distance": 1.12682, + "closest_goal_object_id": 34, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -19.89784, + 0.18397, + 7.28071 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_28_newN_0", + "path": [ + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "c0a8647aead54f7295512181bac0440e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "refined_path": [ + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0" + ], + "c0a8647aead54f7295512181bac0440e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:33C7UALJVN1RACWOKZD0LAASGL618N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.47334, + -0.01603, + 8.6764 + ], + "start_rotation": [ + 0, + 0.47371, + 0, + -0.88068 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.07468, + "euclidean_distance": 10.08318, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.41012, + -0.01603, + 6.90511 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "3875b9ad36924b869985fed0412bc926", + "path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3C2NJ6JBKCKJ241O952X8QAREISN2U", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.35375, + 0.14358, + 0.09092 + ], + "start_rotation": [ + 0, + 0.6132, + 0, + -0.78993 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.87833, + "euclidean_distance": 1.76857, + "closest_goal_object_id": 51, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -13.73929, + -0.01603, + -1.64004 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "14c540221298447da11bf71477d7fbf1", + "path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3DL65MZB8FIS6GGDDZOKUGP4CMVCE4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.468, + 0.18397, + 27.83649 + ], + "start_rotation": [ + 0, + 0.8067, + 0, + 0.59096 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.74854, + "euclidean_distance": 5.3958, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.9768, + 0.18397, + 27.84463 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:33F859I568GLGLF9P00V4ZGZOVFBHY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.47368, + -0.01603, + 6.93878 + ], + "start_rotation": [ + 0, + 0.75485, + 0, + -0.6559 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.58242, + "euclidean_distance": 4.99557, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.47843, + -0.01603, + 6.33477 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OONKJ5DKEMV821WTDVLO8D00HNBOG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.32125, + 0.18397, + 17.82885 + ], + "start_rotation": [ + 0, + 0.96202, + 0, + -0.27299 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.99605, + "euclidean_distance": 18.33146, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.4217, + -0.01603, + 6.80707 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", + "path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0" + ], + "refined_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "f40bd40958c84aff92ba792033933f3d", + "ff643dfda6de401081f3081139c74843", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "0_edge_151_newN_1", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + [ + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3NAPMVF0ZYIUZJ91TYL8CTO2U9L27Q", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.2127, + -0.01603, + 4.36433 + ], + "start_rotation": [ + 0, + 0.90715, + 0, + 0.4208 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.21312, + "euclidean_distance": 17.12577, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.72058, + 0.18397, + 0.08108 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_129_newN_0", + "path": [ + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3UXUOQ9OKG0J4M456DENIB7ZS7VA7R", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -8.00504, + -0.01603, + -5.82095 + ], + "start_rotation": [ + 0, + 0.43646, + 0, + 0.89973 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.83438, + "euclidean_distance": 8.36378, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.14219, + 0.02992, + -0.15789 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669" + ], + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IRIK4HM3CNOT1NY7H5MISXSENS6CH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.34582, + -0.01603, + 4.04107 + ], + "start_rotation": [ + 0, + 0.13126, + 0, + 0.99135 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.34303, + "euclidean_distance": 3.1807, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -15.39389, + -0.01603, + 1.5991 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:352YTHGROXG1VMU0ALQ8WLATE324HP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.34214, + 0.18397, + 26.66979 + ], + "start_rotation": [ + 0, + 0.71315, + 0, + -0.70102 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.11472, + "euclidean_distance": 14.65318, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.93014, + 0.18397, + 40.95646 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3LRKMWOKB7KDJTF7CTDR3DH173V2ZK", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -4.21719, + -0.01603, + 0.90344 + ], + "start_rotation": [ + 0, + 0.59193, + 0, + 0.80599 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.64712, + "euclidean_distance": 18.61095, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.73501, + 0.18397, + 0.05721 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ec5c91f9eea342c4b87f5cfd403dcefb", + "path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3V0Z7YWSI03WA9AXBWOOI7440M8V2Z", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.46428, + 0.26607, + -2.95147 + ], + "start_rotation": [ + 0, + 0.89889, + 0, + 0.43817 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.93388, + "euclidean_distance": 7.5599, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.73728, + 0.18397, + 4.6929 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0" + ] + }, + { + "episode_id": "A35NXCD0VE2I69:3QY7M81QH9PPGZDRI4RCCPAVXM1K7Y", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.08935, + 0.18397, + 25.9699 + ], + "start_rotation": [ + 0, + 0.53582, + 0, + 0.84433 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.07835, + "euclidean_distance": 22.69328, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.51963, + -0.01603, + 6.88268 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3TEM0PF1Q703KI7X5OKGTX5I3Z0D0E", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.80799, + 0.18397, + 5.54884 + ], + "start_rotation": [ + 0, + 0.65462, + 0, + -0.75595 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.37614, + "euclidean_distance": 5.42705, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.78075, + 0.10976, + 1.86883 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_32_newN_2", + "path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + [ + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3FTF2T8WLTLKPIV1MF8ZEWVXW47W9G", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 8.77157, + 0.18397, + 56.51436 + ], + "start_rotation": [ + 0, + 0.91937, + 0, + 0.39339 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.23146, + "euclidean_distance": 0.99791, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 9.68337, + 0.18397, + 56.0698 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "6488e19b0c5249eabb792c2bbebf8137", + "path": [ + "6488e19b0c5249eabb792c2bbebf8137", + "a31586a01b5947c89f02d9fa852b0d97", + "0_edge_90_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6488e19b0c5249eabb792c2bbebf8137", + "a31586a01b5947c89f02d9fa852b0d97", + "0_edge_90_newN_1", + "a31586a01b5947c89f02d9fa852b0d97", + "6488e19b0c5249eabb792c2bbebf8137" + ], + "refined_path": [ + "6488e19b0c5249eabb792c2bbebf8137", + "a31586a01b5947c89f02d9fa852b0d97", + "0_edge_90_newN_1", + [ + "a31586a01b5947c89f02d9fa852b0d97", + "6488e19b0c5249eabb792c2bbebf8137" + ] + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3RKNTXVS3O1MLZMM4FGGFZNP188A4G", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.57601, + 0.18397, + 0.96733 + ], + "start_rotation": [ + 0, + 0.53954, + 0, + 0.84196 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.68494, + "euclidean_distance": 3.6931, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.82726, + 0.18397, + 4.6626 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_110_newN_0", + "path": [ + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0" + ], + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RJSC4XJ12X8G5S4QI2XVLHR63L050", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.63815, + 0.18397, + 26.26365 + ], + "start_rotation": [ + 0, + 0.32729, + 0, + 0.94492 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.93361, + "euclidean_distance": 16.39873, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.07319, + -0.01603, + 9.96597 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3E1QT0TDFRC2AISMS6Y6D9RETDWI8N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.77248, + 0.18397, + 25.0559 + ], + "start_rotation": [ + 0, + 0.8189, + 0, + -0.57393 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.55159, + "euclidean_distance": 15.07056, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.04517, + -0.01603, + 10.00946 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e" + ], + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3M1CVSFP628TA49K2CNTI2OUX6YQAY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.00531, + -0.01603, + -5.17756 + ], + "start_rotation": [ + 0, + 0.734, + 0, + 0.67915 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.74372, + "euclidean_distance": 13.87419, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.75536, + 0.18397, + 0.11965 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_1_newN_0", + "path": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "35e62dc086ba4cd598a30fd3ec926a18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "deb943d89d2a44ce8850edec3c7308f9", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "0_edge_111_newN_2", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_98_newN_1", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "0_edge_36_newN_2", + "cb5f8c9a4a84477f99637276f00cfb2b", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_98_newN_1", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "0_edge_36_newN_2", + "cb5f8c9a4a84477f99637276f00cfb2b", + "0_edge_36_newN_2", + "0_edge_36_newN_1", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + [ + "1611d119a70b46869c6e12117aa71972" + ], + "0_edge_47_newN_1", + "11_edge_36_newN_0", + "0_edge_47_newN_0", + "daa0aa844488426a9174a7051698a417", + "63ac2b2ef1e0457385976d17655da263", + "0_edge_130_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0", + [ + "bb55c5f20f784105bae11a40f33cf7d9", + "10_edge_158_newN_0", + "0_edge_130_newN_1", + "10_edge_158_newN_0", + "bb55c5f20f784105bae11a40f33cf7d9", + "0_edge_151_newN_0" + ], + "0_edge_151_newN_1", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "ff643dfda6de401081f3081139c74843", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + [ + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad" + ], + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "87870f8cba81492b8ef631196a2f6560" + ], + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "2f366c82ffe246d9a3cc6d8bcca862d4" + ], + "0_edge_98_newN_1", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "0_edge_36_newN_2", + "cb5f8c9a4a84477f99637276f00cfb2b", + [ + "0_edge_36_newN_2", + "0_edge_36_newN_1", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_98_newN_3", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0" + ], + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + [ + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404" + ], + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ITXP059PYMGODR1OMPB616FMWAJS6", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.25263, + 0.18397, + 22.31274 + ], + "start_rotation": [ + 0, + 0.03819, + 0, + -0.99927 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.83146, + "euclidean_distance": 21.26208, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.43571, + -0.01603, + 6.79012 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3OLF68YTNB4WJFJBOWCZ63KH4KIFAY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.7294, + 0.18397, + 28.76913 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + 0.00735 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.25615, + "euclidean_distance": 5.74068, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.90961, + 0.18397, + 27.69337 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:34X6J5FLPV14BXCOWI06B1RE0YSQJ3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.97879, + -0.01603, + -3.44345 + ], + "start_rotation": [ + 0, + 0.18902, + 0, + -0.98197 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.39489, + "euclidean_distance": 4.18263, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -7.4866, + -0.01603, + -5.42037 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "0_edge_2_newN_1", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_2_newN_1", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37UQDCYH6ZY3WA73H85JEYLDU77V7N", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.31639, + 0.05634, + -2.7018 + ], + "start_rotation": [ + 0, + 0.9279, + 0, + -0.37282 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.13417, + "euclidean_distance": 23.30459, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.80211, + 0.18397, + 0.09127 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "ff643dfda6de401081f3081139c74843", + "path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "ff643dfda6de401081f3081139c74843", + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3FTF2T8WLTLKPIV1MF8ZEWVXT669WT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.19948, + 0.18397, + 27.64919 + ], + "start_rotation": [ + 0, + 0.84754, + 0, + 0.53074 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.07746, + "euclidean_distance": 3.73091, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.91567, + 0.18397, + 27.7163 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + [ + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:308XBLVESK7Y5FTCL5CPI3I5B3ZRBV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.10482, + 0.18397, + 18.17769 + ], + "start_rotation": [ + 0, + 0.00357, + 0, + 0.99999 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.15373, + "euclidean_distance": 18.37005, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.4561, + -0.01603, + 6.83092 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", + "path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZOTGHDK5KEUPOIY4ZHGEXN0481OSS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 4.78093, + 0.18397, + 39.16782 + ], + "start_rotation": [ + 0, + 0.66814, + 0, + -0.74404 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.43549, + "euclidean_distance": 2.26699, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.4637, + 0.18397, + 41.43137 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "a39bc73eb9f64cbaabfca03100692305", + "path": [ + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3FFJ6VRIL3RKSTNJX2LRKULWBRE0I1", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.92192, + 0.18397, + 7.77232 + ], + "start_rotation": [ + 0, + 0.98239, + 0, + -0.18682 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.83497, + "euclidean_distance": 8.14672, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.63489, + 0.18397, + 0.16767 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "0_edge_28_newN_0", + "path": [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:31UV0MXWNSFJN09KU8R31PHNSO5I5Y", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -17.54728, + 0.19655, + -2.30095 + ], + "start_rotation": [ + 0, + 0.89429, + 0, + -0.44749 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.79504, + "euclidean_distance": 8.87152, + "closest_goal_object_id": 49, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.48253, + 0.0436, + 6.39501 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "477dbfb712f242958420a83d490a70ed", + "path": [ + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "477dbfb712f242958420a83d490a70ed", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "477dbfb712f242958420a83d490a70ed" + ], + "0_edge_110_newN_0", + "0_edge_31_newN_0", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3JNQLM5FT6PTE4Y3XSMIVY62B3L2LY", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -19.92411, + 0.18397, + 5.18875 + ], + "start_rotation": [ + 0, + 0.78092, + 0, + 0.62463 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.44294, + "euclidean_distance": 4.54601, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.75585, + 0.10691, + 1.76865 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "4534a8c9651e4ce891970e43e2724dfe", + "path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + [ + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A30AGR5KF8IEL:3AAJC4I4FIVDPPDFJEJJ2U3HO0BJZ3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.38539, + 0.18397, + -1.12653 + ], + "start_rotation": [ + 0, + 0.935, + 0, + -0.35464 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.50409, + "euclidean_distance": 6.31684, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.73956, + 0.10505, + 1.77865 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3MD9PLUKKKH98F40YCBBV1KY1A4NZJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.60485, + 0.18397, + 23.94368 + ], + "start_rotation": [ + 0, + 0.88195, + 0, + -0.47134 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.69079, + "euclidean_distance": 13.97806, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.05043, + -0.01603, + 9.9511 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3I7DHKZYGP3ZD97UT0LIYS4UYJ05FB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.87076, + -0.01603, + -2.90572 + ], + "start_rotation": [ + 0, + 0.89263, + 0, + -0.45078 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.84455, + "euclidean_distance": 1.62191, + "closest_goal_object_id": 38, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -10.81865, + -0.01603, + -4.33989 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "0_edge_2_newN_1", + "path": [ + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33C7UALJVN1RACWOKZD0LAASGLN184", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.12952, + 0.18397, + 23.49792 + ], + "start_rotation": [ + 0, + 0.9854, + 0, + 0.17027 + ], + "object_category": "table", + "info": { + "geodesic_distance": 21.48217, + "euclidean_distance": 18.74136, + "closest_goal_object_id": 103, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.19899, + -0.01603, + 4.6954 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3LO69W1SU5GJTY6AW777X204Y0VGL7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -13.81794, + 0.35033, + -5.44972 + ], + "start_rotation": [ + 0, + 0.59633, + 0, + 0.80274 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.38183, + "euclidean_distance": 1.28722, + "closest_goal_object_id": 45, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.67111, + 0.18397, + -5.14257 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_3_newN_2", + "path": [ + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2" + ], + "refined_path": [ + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_0_newN_1", + [ + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2" + ] + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3OB0CAO74JSHTT8KZSEFCAE1NR1YHU", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 13.93159, + 0.18397, + 44.94706 + ], + "start_rotation": [ + 0, + 0.89577, + 0, + 0.44452 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.9187, + "euclidean_distance": 18.26712, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57363, + 0.18397, + 29.3921 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A272X64FOZFYLB:33IZTU6J834HJXWQ5Q4CXAEUXUOXS7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.88316, + 0.18397, + 26.53024 + ], + "start_rotation": [ + 0, + 0.23552, + 0, + -0.97187 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.78043, + "euclidean_distance": 16.53256, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.88625, + -0.01603, + 9.9746 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3CP1TO84PV4FCFVI556BE9A5PDH529", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -7.8154, + -0.01603, + -6.38945 + ], + "start_rotation": [ + 0, + 0.27258, + 0, + -0.96213 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.30709, + "euclidean_distance": 8.89077, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.16097, + 0.03488, + -0.1701 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:378XPAWRUEGGT6L1P4IK90X9KBKAIS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.22427, + 0.18397, + 25.70916 + ], + "start_rotation": [ + 0, + 0.90633, + 0, + -0.42257 + ], + "object_category": "table", + "info": { + "geodesic_distance": 19.55969, + "euclidean_distance": 16.64942, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.39096, + 0.18397, + 41.39403 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + [ + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:33IZTU6J834HJXWQ5Q4CXAETG64SXN", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -20.47825, + 0.18397, + 8.51873 + ], + "start_rotation": [ + 0, + 0.23385, + 0, + -0.97227 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.99488, + "euclidean_distance": 7.59147, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.8166, + 0.11385, + 1.80666 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2f366c82ffe246d9a3cc6d8bcca862d4", + "path": [ + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed" + ], + "refined_path": [ + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZR9AIQJUDCQKMO4CDJNQTBD67Q04V", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.42724, + 0.18397, + 24.16517 + ], + "start_rotation": [ + 0, + 0.47291, + 0, + 0.88111 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.39094, + "euclidean_distance": 15.13456, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.01233, + -0.01603, + 9.98314 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1", + [ + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3R6BYFZZP9F8FSR4Z64DQBVF568XF3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.03018, + -0.01603, + -0.3503 + ], + "start_rotation": [ + 0, + 0.91693, + 0, + 0.39905 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.01671, + "euclidean_distance": 22.78834, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.79608, + 0.18397, + 0.07451 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3IKZ72A5B6J33YD0X0H4S94GP2EFNL", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.146, + 0.18397, + 22.73212 + ], + "start_rotation": [ + 0, + 0.99453, + 0, + -0.10446 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 27.99253, + "euclidean_distance": 26.01827, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.15277, + 0.16137, + 0.69556 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3ZAZR5XV03LQHB799M2XFQQM0NJCZF", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.01769, + 0.18397, + 28.20655 + ], + "start_rotation": [ + 0, + 0.56139, + 0, + 0.82755 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.3291, + "euclidean_distance": 13.88417, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.43375, + 0.18397, + 41.44617 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "0_edge_59_newN_0", + "63b2f39fcc844216ada0b28c0873ae61", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A16K7X677N4WN6:32EYX73OY2CD1E2ILWTKNTAUHCCURG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.74953, + -0.01603, + -0.63065 + ], + "start_rotation": [ + 0, + 0.95028, + 0, + 0.3114 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.25294, + "euclidean_distance": 11.09219, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.74623, + 0.18397, + 0.14411 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "87870f8cba81492b8ef631196a2f6560", + "path": [ + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "0_edge_45_newN_0", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_11_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "0_edge_32_newN_2", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_32_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263", + "daa0aa844488426a9174a7051698a417", + "0_edge_47_newN_0", + "11_edge_36_newN_0", + "0_edge_47_newN_1", + "1611d119a70b46869c6e12117aa71972", + [ + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560" + ], + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + [ + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e" + ], + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_111_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_32_newN_2", + [ + "4534a8c9651e4ce891970e43e2724dfe" + ], + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3EJJQNKU9T88WSWYLXML4EL36K4RHJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.2144, + 0.18397, + -6.16391 + ], + "start_rotation": [ + 0, + 0.54489, + 0, + 0.83851 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.03103, + "euclidean_distance": 1.37599, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.63406, + 0.1716, + -6.41563 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_130_newN_0", + "path": [ + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ], + "refined_path": [ + "0_edge_130_newN_0", + "63ac2b2ef1e0457385976d17655da263", + "5fb26cecda204c40ae520fbda21ce82e", + "0_edge_151_newN_2", + [ + "5fb26cecda204c40ae520fbda21ce82e" + ], + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3SB4CE2TJXYDJ1AWOQILCAKO8F3AXP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.5596, + 0.18397, + 24.03946 + ], + "start_rotation": [ + 0, + 0.39463, + 0, + -0.91884 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.46234, + "euclidean_distance": 14.41958, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.01615, + -0.01603, + 9.94381 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "a9db6e3e630f4490b8aaedc387b3adad", + "0_edge_2_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "0_edge_2_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_11_newN_0", + [ + "9777c924f783428ca832493cef2b5259" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_2_newN_1" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3WAKVUDHUYJ3JVI3CIVEICJUGY1U7W", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 6.45193, + 0.18397, + 44.19498 + ], + "start_rotation": [ + 0, + 0.91801, + 0, + 0.39657 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.35366, + "euclidean_distance": 1.15215, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 7.48866, + 0.18397, + 44.81503 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_22_newN_1", + "path": [ + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:32AT8R96GNCP2T2V0LTPD3FQ3CGSUJ", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.01251, + 0.18397, + 26.39005 + ], + "start_rotation": [ + 0, + 0.02673, + 0, + -0.99964 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.73917, + "euclidean_distance": 16.38445, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -3.97507, + -0.01603, + 9.91621 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3SB4CE2TJXYDJ1AWOQILCAKO7EPAX8", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.57705, + 0.35362, + -5.11505 + ], + "start_rotation": [ + 0, + 0.6826, + 0, + -0.73079 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.76357, + "euclidean_distance": 4.93077, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.10951, + 0.02111, + -0.13781 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_0_newN_1", + "path": [ + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_0_newN_1", + "d260eaeca5694719868f318ab468be27", + "0_edge_3_newN_2", + [ + "d260eaeca5694719868f318ab468be27" + ], + "0_edge_2_newN_1", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:34BBWHLWHCED0JO4Q9ECRPU0FVSIWL", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.21673, + 0.18397, + 25.32275 + ], + "start_rotation": [ + 0, + 0.43665, + 0, + -0.89963 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.58044, + "euclidean_distance": 16.37626, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.4404, + 0.18397, + 41.34769 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3PS7W85Z815SX1R7RA3ORCOYO0NT9X", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.46644, + 0.18397, + 2.34953 + ], + "start_rotation": [ + 0, + 0.22815, + 0, + 0.97363 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.57621, + "euclidean_distance": 2.31944, + "closest_goal_object_id": 33, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -17.89986, + 0.18397, + 4.59737 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "a595e80625ce4c808cf713581ce1c0da", + "path": [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "477dbfb712f242958420a83d490a70ed", + [ + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "2ad491d5db914f9689bfec52a694dd18", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "AEWGY34WUIA32:36TFCYNS46DSTOIAUWSDTW7SK96HXH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.62483, + 0.18397, + 0.74112 + ], + "start_rotation": [ + 0, + 0.9981, + 0, + 0.06157 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.52414, + "euclidean_distance": 4.93258, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.84063, + 0.1166, + 1.82842 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", + "path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LKR6A5KGNA8WOCNXOVC66FQOV1TS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.14531, + -0.01271, + 13.20407 + ], + "start_rotation": [ + 0, + 0.80211, + 0, + 0.59718 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.7305, + "euclidean_distance": 12.0338, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.36761, + -0.01603, + 6.82598 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "cde4845dbdcd439b988ffa3ab38262d1", + "path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3GNA64GUZG7W4YX37GWCAR883YW5QG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.81705, + 0.18397, + 25.59788 + ], + "start_rotation": [ + 0, + 0.20307, + 0, + 0.97916 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 29.56781, + "euclidean_distance": 20.56828, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.44617, + -0.01603, + 6.93462 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RRCEFRB7OFR49REATGCAA7VJV6B4Z", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.69469, + -0.01603, + 5.04006 + ], + "start_rotation": [ + 0, + 0.99745, + 0, + 0.0713 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 29.53486, + "euclidean_distance": 27.62875, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.13893, + 0.18397, + 27.70926 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926" + ], + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "171278a4cf64429d9ab2df21adcc60d8", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3HMVI3QICLV6PIN6X3BUKNYTSKK1YX", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 9.04827, + 0.18397, + 44.44059 + ], + "start_rotation": [ + 0, + 0.11034, + 0, + -0.99389 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.04031, + "euclidean_distance": 15.79663, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.5303, + 0.18397, + 29.36916 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_84_newN_4", + "path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3ZDAD0O1T3GIYX95UQ927FAGZDWTXM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.71121, + -0.01603, + -1.3161 + ], + "start_rotation": [ + 0, + 0.971, + 0, + -0.23906 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.22274, + "euclidean_distance": 11.48731, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.11375, + 0.05325, + 0.06681 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TEM0PF1Q703KI7X5OKGTX5JIA50D9", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -22.39691, + 0.18397, + 0.53287 + ], + "start_rotation": [ + 0, + 0.64314, + 0, + -0.76575 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.22329, + "euclidean_distance": 4.92924, + "closest_goal_object_id": 32, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -21.12977, + 0.18397, + 5.39363 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ea57049411f1475f9279bb323dc1f999", + "path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_98_newN_1", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "0_edge_36_newN_2" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_98_newN_1", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "0_edge_36_newN_2" + ], + "refined_path": [ + "ea57049411f1475f9279bb323dc1f999", + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_98_newN_1", + "0_edge_98_newN_3", + "e3676c851d0f434e9bbf6911f7a676fb", + "0_edge_36_newN_1", + "0_edge_36_newN_2" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3TMSXRD2X8320DS6I2T6ZQDEVUI1WC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -15.4679, + 0.07479, + 3.6153 + ], + "start_rotation": [ + 0, + 0.99292, + 0, + -0.11877 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.08189, + "euclidean_distance": 8.11902, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.80368, + 0.18397, + 0.11164 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "deb943d89d2a44ce8850edec3c7308f9", + "path": [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + [ + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:36AHBNMV1TF0HD3IDWVPLPZ3UNTYDH", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.02561, + 0.18397, + 17.12872 + ], + "start_rotation": [ + 0, + 0.03576, + 0, + 0.99936 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 19.17141, + "euclidean_distance": 16.05145, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.29564, + -0.01603, + 6.76094 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", + "path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3NAPMVF0ZYIUZJ91TYL8CTO2U8927C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 9.1703, + 0.18397, + 42.85439 + ], + "start_rotation": [ + 0, + 0.69331, + 0, + -0.72064 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 17.24961, + "euclidean_distance": 14.32557, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.63111, + 0.18397, + 29.38873 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "6b06f294636f4fcd9bddeb75cda61c6d", + "path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:38F5OAUN5PFYE9CJCJOFZXU33RHH7H", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.82609, + -0.01603, + 5.70361 + ], + "start_rotation": [ + 0, + 0.39707, + 0, + 0.91779 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 29.60792, + "euclidean_distance": 27.164, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.12047, + 0.18397, + 27.52253 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "0_edge_59_newN_1" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3I2PTA7R3VXZMHI6E30ICGRRJXOKQG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 4.62011, + 0.18397, + 25.4841 + ], + "start_rotation": [ + 0, + 0.62637, + 0, + 0.77952 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.72122, + "euclidean_distance": 25.19588, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.45639, + -0.01603, + 6.93065 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + [ + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IGI0VL649NX9BQTW30UF3DVYT3NOC", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.32567, + 0.18397, + 46.47274 + ], + "start_rotation": [ + 0, + 0.71563, + 0, + -0.69848 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.24384, + "euclidean_distance": 17.64313, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.55207, + 0.18397, + 29.27647 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "aa3049db9ce543e0bb9456793ad1ea2e", + "path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_84_newN_4", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "aa3049db9ce543e0bb9456793ad1ea2e", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d" + ], + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3Q5C1WP23O48NUDMM16X9Q01EVQ156", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -14.10999, + 0.00588, + -2.79138 + ], + "start_rotation": [ + 0, + 0.96036, + 0, + 0.27876 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.7585, + "euclidean_distance": 2.58545, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.12404, + 0.01783, + -0.19491 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "35e62dc086ba4cd598a30fd3ec926a18", + "path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:32ZKVD547HQ6MD8AAFBT05FQI1ZB3U", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.98942, + -0.01603, + -1.2105 + ], + "start_rotation": [ + 0, + 0.64542, + 0, + 0.76382 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.51268, + "euclidean_distance": 10.20581, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.16133, + 0.07158, + 0.07442 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "e08f96be3042438dbcbead0207f8b016", + "path": [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ee62dcd77a3446028da94a7b93a2afe7", + "0_edge_129_newN_0", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ee62dcd77a3446028da94a7b93a2afe7", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + [ + "44d33d6e1d08491bbbbefbbdf4153521" + ], + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + [ + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0" + ], + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3TR2532VIRXB1FT4H9M85WAN47A6J4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.18078, + 0.18397, + 17.25885 + ], + "start_rotation": [ + 0, + 0.01316, + 0, + 0.99991 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 19.22541, + "euclidean_distance": 16.01594, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.44827, + -0.01603, + 6.82637 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "1f6913d742e04627b35d285907b0c41c", + "path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ], + "refined_path": [ + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "0_edge_28_newN_0" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:32XVDSJFP10DKMGOX4NXVBLSSXRM2X", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -11.25822, + -0.01603, + 4.50265 + ], + "start_rotation": [ + 0, + 0.94745, + 0, + 0.3199 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.5929, + "euclidean_distance": 2.76655, + "closest_goal_object_id": 89, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -9.58009, + -0.01603, + 6.75917 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "1ea622f651a34cfda5cdccf90117aaeb", + "path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "c0a8647aead54f7295512181bac0440e", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "0_edge_45_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0" + ], + "refined_path": [ + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + [ + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "c0a8647aead54f7295512181bac0440e", + [ + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18", + [ + "87870f8cba81492b8ef631196a2f6560" + ], + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + [ + "9777c924f783428ca832493cef2b5259" + ], + "0_edge_45_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37UQDCYH6ZY3WA73H85JEYLDR5A7VV", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.33469, + 0.4852, + -6.94132 + ], + "start_rotation": [ + 0, + 0.14845, + 0, + 0.98892 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.66648, + "euclidean_distance": 2.58347, + "closest_goal_object_id": 53, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -8.00847, + -0.01603, + -5.75696 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_1_newN_0", + "path": [ + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2", + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ], + "refined_path": [ + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + [ + "0_edge_1_newN_0" + ], + "1611d119a70b46869c6e12117aa71972", + "0_edge_5_newN_2", + [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_1_newN_0" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3II4UPYCOLAR8BCWMMEV83W1ZOLQD3", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.11705, + 0.00387, + -4.49697 + ], + "start_rotation": [ + 0, + 0.99903, + 0, + -0.04398 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.1097, + "euclidean_distance": 4.77054, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.12314, + 0.02195, + -0.16516 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_3_newN_2", + "path": [ + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "0_edge_3_newN_2", + "d260eaeca5694719868f318ab468be27", + "0_edge_1_newN_0", + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3C6FJU71TSWMYFE4ZRLEVP3RKZTYUO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.07831, + 0.18397, + 28.19896 + ], + "start_rotation": [ + 0, + 0.8721, + 0, + -0.48932 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.51129, + "euclidean_distance": 4.02648, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 3.94404, + 0.18397, + 27.78104 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3P4RDNWND79RUZO5JAVX2Z0RWDAJIR", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.26355, + 0.18397, + -4.75697 + ], + "start_rotation": [ + 0, + 0.11596, + 0, + -0.99325 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.45992, + "euclidean_distance": 3.27118, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.59072, + 0.10285, + -6.26299 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_151_newN_2", + "path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3C44YUNSI3S68ZBHM9Z68Y6QD45PDM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.8695, + -0.01603, + 0.1999 + ], + "start_rotation": [ + 0, + 0.96767, + 0, + 0.25222 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.37506, + "euclidean_distance": 6.57146, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.24168, + -0.01603, + -3.32453 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "ce911e4041d24673bc7e5d80dd645630", + "path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:36NEMU28XHGZW2EVBOC4JI1HSTYWMB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -9.38335, + -0.01603, + 6.62075 + ], + "start_rotation": [ + 0, + 0.91891, + 0, + 0.39447 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.83143, + "euclidean_distance": 7.42822, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.35103, + 0.18397, + 1.04048 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + [ + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3N2BF7Y2VSXHZCJ6GPQ4IFRUD56MHM", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.45237, + 0.18397, + 26.58148 + ], + "start_rotation": [ + 0, + 0.56427, + 0, + 0.82559 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.03279, + "euclidean_distance": 14.71282, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.96107, + 0.18397, + 40.96476 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34J10VATJH18GMSIE0F6Z0CERTTQI5", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.66842, + 0.18397, + 23.40694 + ], + "start_rotation": [ + 0, + 0.52032, + 0, + 0.85397 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 28.44213, + "euclidean_distance": 27.0268, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -13.94369, + 0.11398, + 0.82328 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3I3WADAZ9S7TJMKNS348LMD93WK5OT", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.22958, + 0.18397, + 23.00069 + ], + "start_rotation": [ + 0, + 0.10413, + 0, + 0.99456 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.10313, + "euclidean_distance": 21.09055, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.33751, + -0.01603, + 6.74671 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:386PBUZZXH0TK0WB4DSAUFSKR41JLS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 13.29162, + 0.18397, + 45.06285 + ], + "start_rotation": [ + 0, + 0.30818, + 0, + 0.95133 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.3107, + "euclidean_distance": 18.04482, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.49971, + 0.18397, + 29.30339 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3L0KT67Y8GJ6J2M0AMQEGOL3Z0FSY5", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.45246, + 0.18397, + 23.9049 + ], + "start_rotation": [ + 0, + 0.04162, + 0, + -0.99913 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 29.70065, + "euclidean_distance": 26.36318, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.01539, + 0.11542, + 0.72028 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Q5ZZ9ZEVQIQYUX7LMFCO0N9ORQ580", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -6.05227, + -0.01603, + 7.62743 + ], + "start_rotation": [ + 0, + 0.9969, + 0, + -0.07868 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.00721, + "euclidean_distance": 6.38855, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.37742, + -0.01603, + 6.83533 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "37f62db110c94798b2eec3c180d2fa39", + "path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3U088ZLJVMW2TO7OMJP6LLU3AVGW0C", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.78646, + 0.18397, + 23.63133 + ], + "start_rotation": [ + 0, + 0.79086, + 0, + -0.61199 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.68431, + "euclidean_distance": 13.65007, + "closest_goal_object_id": 62, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -4.00298, + -0.01603, + 9.92838 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "5fb26cecda204c40ae520fbda21ce82e" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:33TIN5LC06DOENQ11GQNZTGD4E3Y9E", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.45572, + -0.01603, + 5.6343 + ], + "start_rotation": [ + 0, + 0.95696, + 0, + -0.29023 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 28.23579, + "euclidean_distance": 26.44135, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.03754, + 0.18397, + 27.76814 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "3a5f7c6c250e4d56b96ff967489de836", + "path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "0_edge_129_newN_0", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "0_edge_59_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "89fc715c56814d59aaf7eaa522fe199a" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "c835bc9904a846ce88571c2ee3557af0", + "97199ffe16bc45d0acb64341501e467e", + [ + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "deb943d89d2a44ce8850edec3c7308f9", + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e" + ], + "37f62db110c94798b2eec3c180d2fa39", + "3875b9ad36924b869985fed0412bc926", + "854ce53825a347bba52684d20cca190b", + "462cd36ba0ff43b7af69994cc7e2384f", + "cde4845dbdcd439b988ffa3ab38262d1", + "8e489f8b8bc5448b9410a41faa216021", + "1f6913d742e04627b35d285907b0c41c", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + [ + "544ccad03803403c97721228e7cc9669" + ], + "0_edge_59_newN_1", + [ + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d" + ], + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3OVHNO1VE840M3DN9IX8ZW851THDZW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 13.07845, + 0.18397, + 44.34445 + ], + "start_rotation": [ + 0, + 0.02837, + 0, + 0.9996 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.99308, + "euclidean_distance": 17.31473, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.58462, + 0.18397, + 29.4001 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "89fc715c56814d59aaf7eaa522fe199a", + "path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EO896NRAYYH3D4GDMU1G621K5OJT7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -7.73993, + -0.01603, + -6.87905 + ], + "start_rotation": [ + 0, + 0.43978, + 0, + -0.8981 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.76211, + "euclidean_distance": 9.29023, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.25495, + 0.0802, + -0.09413 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "1611d119a70b46869c6e12117aa71972", + "path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + "e08f96be3042438dbcbead0207f8b016", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "1611d119a70b46869c6e12117aa71972", + "0_edge_45_newN_0", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "0_edge_8_newN_2", + [ + "e08f96be3042438dbcbead0207f8b016" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ee62dcd77a3446028da94a7b93a2afe7", + [ + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3F1567XTNY8F5LZFA69TM7DB84O9QP", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.74403, + 0.18397, + 44.15754 + ], + "start_rotation": [ + 0, + 0.09769, + 0, + -0.99522 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.32662, + "euclidean_distance": 15.72368, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.51775, + 0.18397, + 29.37714 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_74_newN_1", + "path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3QAPZX2QN6GGH89H8Z0ZXEEFPTC20M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 5.56341, + 0.18397, + 29.17244 + ], + "start_rotation": [ + 0, + 0.48824, + 0, + 0.87271 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.73709, + "euclidean_distance": 11.73709, + "closest_goal_object_id": 170, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.96375, + 0.18397, + 40.85314 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "72dc0c6d62414bbaa9fe67ecfe6305e3", + "path": [ + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ], + "refined_path": [ + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + [ + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:31T4R4OBOUJ7X113QRAEO6XO60NC7Y", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.49803, + 0.18397, + 45.1137 + ], + "start_rotation": [ + 0, + 0.60903, + 0, + 0.79315 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 16.76121, + "euclidean_distance": 15.91338, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.51147, + 0.18397, + 29.2539 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "a3e731b8c53346cbad60c56777279606", + "path": [ + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ], + "refined_path": [ + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3YDGXNSEO1X82BT77HW2J8HU9WE48Y", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -10.50604, + -0.01603, + -1.33233 + ], + "start_rotation": [ + 0, + 0.87584, + 0, + 0.4826 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.9489, + "euclidean_distance": 2.78325, + "closest_goal_object_id": 37, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.3931, + -0.01603, + -3.27406 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a9db6e3e630f4490b8aaedc387b3adad", + "path": [ + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IKZ72A5B6J33YD0X0H4S94H6Q2FN4", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -3.30641, + 0.18397, + 23.57982 + ], + "start_rotation": [ + 0, + 0.86672, + 0, + -0.4988 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.02681, + "euclidean_distance": 18.99249, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.4006, + -0.01603, + 6.88767 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "A1WU3UZ1IJIMUI:3MYYFCXHJ5ANVQZPQF8QBLYTCEL4GN", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.34177, + 0.38397, + 21.40208 + ], + "start_rotation": [ + 0, + 0.99958, + 0, + -0.02913 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 26.74883, + "euclidean_distance": 25.18422, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.03949, + 0.12685, + 0.73853 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "a66ff11e61dd489994fba110d257025e", + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e" + ], + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_110_newN_0", + [ + "0_edge_31_newN_0", + "a595e80625ce4c808cf713581ce1c0da" + ], + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:34HJIJKLP7Z6DNPKFA7CBM1333EV4W", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.04106, + 0.18397, + 23.60972 + ], + "start_rotation": [ + 0, + 0.86494, + 0, + -0.50188 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.9424, + "euclidean_distance": 22.08086, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.42878, + -0.01603, + 6.86489 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "a66ff11e61dd489994fba110d257025e", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "9baaef79e7484c8e9929f78df52fc3df", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "8067c649a55045d79e0ef8908e174b14", + "6693377c80b04bb994dd3b7a26cd75ee", + "a39bc73eb9f64cbaabfca03100692305", + "544ccad03803403c97721228e7cc9669", + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "0db658dc49514ca18be7b44ceb363849", + "a3e731b8c53346cbad60c56777279606", + [ + "c50575c567e74abfbf95cdd50f71122d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3", + "9baaef79e7484c8e9929f78df52fc3df", + "063eee6149194f3abc6f297e290068fa" + ], + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "44d33d6e1d08491bbbbefbbdf4153521", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "0_edge_45_newN_0", + "1611d119a70b46869c6e12117aa71972" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3E13VNJ1NPYKZI81TLPRYZ46JIY1IK", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 2.89692, + 0.18397, + 23.74333 + ], + "start_rotation": [ + 0, + 0.06201, + 0, + -0.99808 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.40023, + "euclidean_distance": 22.74857, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.51789, + -0.01603, + 6.91639 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "063eee6149194f3abc6f297e290068fa", + "path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_0_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "0_edge_0_newN_1" + ], + "refined_path": [ + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0" + ], + "0_edge_0_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3WR9XG3T65E42XOOXC4W58L0ELG74M", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 1.16224, + 0.18397, + -5.24539 + ], + "start_rotation": [ + 0, + 0.95019, + 0, + 0.31168 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.22487, + "euclidean_distance": 2.96337, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -1.57671, + 0.1361, + -6.32806 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_151_newN_2", + "path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ], + "refined_path": [ + "0_edge_151_newN_2", + "5fb26cecda204c40ae520fbda21ce82e", + "63ac2b2ef1e0457385976d17655da263" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3VP0C6EFSIZ12NZPK6Z0LO2483BM6Y", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.56758, + -0.01603, + 0.48875 + ], + "start_rotation": [ + 0, + 0.88269, + 0, + 0.46995 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.28938, + "euclidean_distance": 22.24784, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.75856, + 0.18397, + 0.17399 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "44d33d6e1d08491bbbbefbbdf4153521", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + [ + "ce911e4041d24673bc7e5d80dd645630" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + [ + "0_edge_136_newN_2", + "0_edge_31_newN_0" + ], + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3HYA4D452TM7ECO7BHJK0L1JSX7F2A", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -12.16821, + -0.01603, + 4.55874 + ], + "start_rotation": [ + 0, + 0.24787, + 0, + 0.96879 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.26685, + "euclidean_distance": 11.5204, + "closest_goal_object_id": 57, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -22.72621, + 0.18397, + 0.15271 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_stool", + "start_potision_viewpoint_id": "2ad491d5db914f9689bfec52a694dd18", + "path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ], + "refined_path": [ + "2ad491d5db914f9689bfec52a694dd18", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "a9db6e3e630f4490b8aaedc387b3adad", + "9777c924f783428ca832493cef2b5259", + "f530764ebfa140c7ad68d1cae7e3f8d9", + "e08f96be3042438dbcbead0207f8b016", + [ + "f530764ebfa140c7ad68d1cae7e3f8d9", + "9777c924f783428ca832493cef2b5259", + "a9db6e3e630f4490b8aaedc387b3adad", + "87870f8cba81492b8ef631196a2f6560", + "2ad491d5db914f9689bfec52a694dd18" + ], + "deb943d89d2a44ce8850edec3c7308f9", + "c0a8647aead54f7295512181bac0440e", + "4534a8c9651e4ce891970e43e2724dfe", + "0_edge_136_newN_2", + "0_edge_31_newN_0", + "0_edge_137_newN_1", + "2b35c215fb1047739393cefd64a76404", + "ea57049411f1475f9279bb323dc1f999" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:379J5II41QJL9KAJQCHJXZFR8EELE2", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 11.42173, + 0.18397, + 44.42797 + ], + "start_rotation": [ + 0, + 0.97876, + 0, + -0.20499 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.35832, + "euclidean_distance": 16.62916, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.57376, + 0.18397, + 29.47493 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "5fb68178835247328ebd444ea4207d64", + "path": [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "5fb68178835247328ebd444ea4207d64", + "6b06f294636f4fcd9bddeb75cda61c6d", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + [ + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3R08VXYT7EYGBZ787IAF004QIA8W70", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.14911, + 0.18397, + 10.36116 + ], + "start_rotation": [ + 0, + 0.37072, + 0, + -0.92875 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.37017, + "euclidean_distance": 5.68445, + "closest_goal_object_id": 50, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.46077, + 0.14379, + 7.18464 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "0_edge_98_newN_2", + "path": [ + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "0_edge_98_newN_2", + "0_edge_98_newN_1", + "2f366c82ffe246d9a3cc6d8bcca862d4", + "0_edge_28_newN_0", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3Z4AIRP3C8GHPDXWS7PS19RKQ5O1X7", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -18.29193, + 0.18397, + 5.28902 + ], + "start_rotation": [ + 0, + 0.20851, + 0, + -0.97802 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.00784, + "euclidean_distance": 3.72591, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.7136, + 0.10208, + 1.99509 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "c0a8647aead54f7295512181bac0440e", + "path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3R0T90IZ1UFQQUC4JUE8UJAGPGDCGG", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.24917, + -0.01603, + -0.72283 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + -0.00969 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.77367, + "euclidean_distance": 12.89027, + "closest_goal_object_id": 30, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -14.09346, + 0.05242, + 0.11034 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "f40bd40958c84aff92ba792033933f3d", + "path": [ + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "f40bd40958c84aff92ba792033933f3d", + "ee62dcd77a3446028da94a7b93a2afe7", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "97199ffe16bc45d0acb64341501e467e", + [ + "ec5c91f9eea342c4b87f5cfd403dcefb" + ], + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3B1NLC6UG1Z9KJL8OZ0EEJ9NQZBPGS", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 6.52936, + 0.18397, + 44.18817 + ], + "start_rotation": [ + 0, + 0.92488, + 0, + -0.38026 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.27688, + "euclidean_distance": 1.09047, + "closest_goal_object_id": 250, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 7.49206, + 0.18397, + 44.8056 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_chair", + "start_potision_viewpoint_id": "0_edge_22_newN_1", + "path": [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ], + "refined_path": [ + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "0_edge_59_newN_1" + ] + }, + { + "episode_id": "A2DLH5XGBNYXWS:3X65QVEQI2Q6CMQ5ULBO7BFP4LVLCO", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -2.15682, + 0.18397, + 45.07229 + ], + "start_rotation": [ + 0, + 0.85101, + 0, + -0.52515 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.64742, + "euclidean_distance": 17.08605, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.54355, + 0.18397, + 29.3758 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_picture", + "start_potision_viewpoint_id": "0_edge_144_newN_0", + "path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "122154d283494710ae5e592fc99bf8e1", + "0_edge_84_newN_4", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + "0_edge_144_newN_0", + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "122154d283494710ae5e592fc99bf8e1", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64", + "0_edge_84_newN_4", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ], + "refined_path": [ + "0_edge_144_newN_0", + "4c8ae1df2cfe4379aba1fcd305221c4c", + [ + "0_edge_144_newN_0" + ], + "0_edge_144_newN_1", + "0_edge_74_newN_1", + "aa3049db9ce543e0bb9456793ad1ea2e", + "2e1d19c78bc74e1cb4a13927c3050e14", + "0_edge_87_newN_2", + "0_edge_73_newN_0", + "a3e731b8c53346cbad60c56777279606", + "0db658dc49514ca18be7b44ceb363849", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + [ + "5fb68178835247328ebd444ea4207d64" + ], + "122154d283494710ae5e592fc99bf8e1", + [ + "5fb68178835247328ebd444ea4207d64", + "89fc715c56814d59aaf7eaa522fe199a", + "5fb68178835247328ebd444ea4207d64" + ], + "0_edge_84_newN_4", + [ + "03d493822ac64466ba416f084a9d3bb9", + "6b06f294636f4fcd9bddeb75cda61c6d", + "03d493822ac64466ba416f084a9d3bb9", + "0_edge_22_newN_1", + "03d493822ac64466ba416f084a9d3bb9" + ], + "c50575c567e74abfbf95cdd50f71122d", + "544ccad03803403c97721228e7cc9669", + "a39bc73eb9f64cbaabfca03100692305", + "6693377c80b04bb994dd3b7a26cd75ee", + "8067c649a55045d79e0ef8908e174b14", + "72dc0c6d62414bbaa9fe67ecfe6305e3" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3M1CVSFP628TA49K2CNTI2OVBCKAQW", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + 0.87158, + 0.18397, + 19.5496 + ], + "start_rotation": [ + 0, + 0.79624, + 0, + 0.60498 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.74529, + "euclidean_distance": 18.33057, + "closest_goal_object_id": 35, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -12.3729, + -0.01603, + 6.78622 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_sofa", + "start_potision_viewpoint_id": "b3fdc3c598324cc5bbaf8c704c03a8bf", + "path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "a66ff11e61dd489994fba110d257025e", + [ + "b3fdc3c598324cc5bbaf8c704c03a8bf" + ], + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3X73LLYYQ3HNHU46SQ54VUGT5ODHNL", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -1.79636, + 0.18397, + 28.6194 + ], + "start_rotation": [ + 0, + 0.756, + 0, + -0.65457 + ], + "object_category": "table", + "info": { + "geodesic_distance": 20.1707, + "euclidean_distance": 14.18055, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.33216, + 0.18397, + 41.46528 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "3a5f7c6c250e4d56b96ff967489de836", + [ + "c835bc9904a846ce88571c2ee3557af0", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0" + ], + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "87870f8cba81492b8ef631196a2f6560", + "0_edge_3_newN_0", + "35e62dc086ba4cd598a30fd3ec926a18" + ] + }, + { + "episode_id": "AAX9LTAOIBECD:3OS4RQUCRBI12PO3UACV1E4NP1KFBB", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -0.33288, + 0.18397, + 25.40672 + ], + "start_rotation": [ + 0, + 0.75899, + 0, + -0.6511 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.84192, + "euclidean_distance": 16.66211, + "closest_goal_object_id": 150, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + 4.40529, + 0.18397, + 41.50201 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_table", + "start_potision_viewpoint_id": "171278a4cf64429d9ab2df21adcc60d8", + "path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432", + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ], + "refined_path": [ + "171278a4cf64429d9ab2df21adcc60d8", + "063eee6149194f3abc6f297e290068fa", + "a66ff11e61dd489994fba110d257025e", + "b3fdc3c598324cc5bbaf8c704c03a8bf", + "1f6913d742e04627b35d285907b0c41c", + "8e489f8b8bc5448b9410a41faa216021", + "cde4845dbdcd439b988ffa3ab38262d1", + "462cd36ba0ff43b7af69994cc7e2384f", + "854ce53825a347bba52684d20cca190b", + "3875b9ad36924b869985fed0412bc926", + "37f62db110c94798b2eec3c180d2fa39", + "97199ffe16bc45d0acb64341501e467e", + "ec5c91f9eea342c4b87f5cfd403dcefb", + "0_edge_129_newN_0", + "c835bc9904a846ce88571c2ee3557af0", + "7a87d776b160483a95fc4f7cdffe0432", + "ce911e4041d24673bc7e5d80dd645630", + "0_edge_11_newN_1", + "0_edge_11_newN_0", + [ + "0_edge_11_newN_1", + "ce911e4041d24673bc7e5d80dd645630", + "7a87d776b160483a95fc4f7cdffe0432" + ], + "1ea622f651a34cfda5cdccf90117aaeb", + "2ad491d5db914f9689bfec52a694dd18", + "deb943d89d2a44ce8850edec3c7308f9" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:34Q075JO1ZG9SNRLPV0LSV4ATDS10A", + "scene_id": "mp3d/PuKPg4mmafe/PuKPg4mmafe.glb", + "start_position": [ + -21.45575, + 0.18397, + 1.28348 + ], + "start_rotation": [ + 0, + 0.32825, + 0, + 0.94459 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.99274, + "euclidean_distance": 4.67005, + "closest_goal_object_id": 29, + "navigation_bounds": [ + [ + -26.33009, + -1.61603, + -11.51514 + ], + [ + 16.14123, + 5.46185, + 57.8717 + ] + ], + "best_viewpoint_position": [ + -16.73873, + 0.10495, + 1.93083 + ] + }, + "goals": [], + "goals_key": "PuKPg4mmafe.glb_cabinet", + "start_potision_viewpoint_id": "2b35c215fb1047739393cefd64a76404", + "path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ], + "refined_path": [ + "2b35c215fb1047739393cefd64a76404", + "0_edge_137_newN_1", + "0_edge_31_newN_0", + "0_edge_136_newN_2", + "4534a8c9651e4ce891970e43e2724dfe", + "c0a8647aead54f7295512181bac0440e", + "deb943d89d2a44ce8850edec3c7308f9", + "a595e80625ce4c808cf713581ce1c0da", + "14c540221298447da11bf71477d7fbf1" + ] + } +] \ No newline at end of file